Predicting kinematic configuration from string length for a snake-like manipulator not exhibiting constant curvature bending

Abstract

We have recently developed a snake-like manipulator for use in orthopaedic environments. One example application is the treatment of osteolysis (bone degradation) due to total hip arthroplasty. Recent literature suggest constant curvature models to define manipulator configuration from string (or actuator cable) length; however, our manipulator does not… (More)
DOI: 10.1109/IROS.2014.6943053

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