An experimental kinestatic comparison between continuum manipulators with structural variations


Continuum manipulators attract a lot of interests due to their advantageous properties, such as distal dexterity, design compactness, intrinsic compliance for safe interaction with unstructured environments. However, these manipulators sometimes suffer from the lack of enough stiffness while applied in surgical robotic systems. This paper presents an… (More)
DOI: 10.1109/ICRA.2014.6907327


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