The field of continuum robotics is rapidly developing. The development of new kinematic
structures, locomotion principles and control strategies is driving the development of new …

In recent years, the number of super high-rise buildings is increasing due to the rapid
development of economy and construction technology. It is important to evaluate the health …

Continuum robots navigate narrow, winding passageways while safely and compliantly
interacting with their environments. Sensing the robot's shape under these conditions is …

This article introduces the analysis and control of a meso-scale two degree-of-freedom
robotic endoscopic tool body for minimally invasive surgeries. The design of the robotic tool …

Compared with rigid robots, soft robots are inherently compliant and have advantages in the
tasks requiring flexibility and safety. But sensing the high dimensional body deformation of …

This article proposes a data-driven learning-based approach for shape sensing and Distal-
end Position Estimation (DPE) of a surgical Continuum Manipulator (CM) in constrained …

Steerable needles are a promising technology to provide safe deployment of tools through
complex anatomy in minimally invasive surgery, including tumor-related diagnoses and …

In this article, we present a novel and generic data-driven method to servo-control the 3-D
shape of continuum and soft robots based on proprioceptive sensing feedback …

Continuum manipulators contribute to promising improvements of minimally invasive
surgical procedures due to their compliance, small size, and ability to navigate anatomical …

This letter presents a method intended for the estimation of external force and moment
applied at the tip of thin rods using vision-based shape measurements, with a view to be …