Herein, recent advances, current limitations, and open challenges in the design, modeling,
and control of continuum robots are discussed. Thanks to their lean bodies, these robots …

In this paper, we describe the advances in the design, actuation, modeling, and control field
of continuum robots. After decades of pioneering research, many innovative structural …

Performing daily interaction tasks such as opening doors and pulling drawers in
unstructured environments is a challenging problem for robots. The emergence of soft …

This article provides a tutorial on the dynamic modeling of continuum robots. Continuum
robots (CRs) have gained popularity in recent years due to their flexible backbone structure …

Traditional rigid robot application in the medical field is limited due to the limited degrees of
freedom caused by their material and structure. Inspired by trunk, tentacles, and snakes …

Compliant continuum robots (CCRs) have slender and elastic bodies. Compared with a
traditional serial robot, they have more degrees of freedom and can deform their flexible …

Soft continuum robots are highly flexible and adaptable, making them ideal for unstructured
environments such as the human body and agriculture. However, their high compliance and …

The goal of this study was to propose and validate a control framework with level-2
autonomy (task autonomy) for the control of flexible ablation catheters. To this end, a …

Folding a flat sheet under a specific crease pattern can form a three-dimensional origami
tube, which has been proven to exhibit unique mechanical properties and has wide …

Continuum robots (CRs) outperform the conventional rigid-link manipulators in aspects of
hyper-redundant and compliant features. They provide universal and efficient solutions to …