Soft robotics is a rapidly evolving field where robots are fabricated using highly deformable
materials and usually follow a bioinspired design. Their high dexterity and safety make them …

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 …

Tendon actuation is one of the most prominent actuation principles for continuum robots. To
date, a wide variety of modelling approaches has been derived to describe the deformations …

The purpose of this research is to present a grasping force model for a soft robotic gripper
with variable stiffness. The soft robotic gripper was made of shape memory alloys (SMAs) …

In this article, the control problem of one segment pneumatically actuated soft robotic arm is
investigated in detail. To date, extensive prior work has been done in soft robotics …

Continuum robots have shown astounding abilities to assist surgeons reaching confined
spaces in the human body. Thus, accurate control of these manipulators, and particularly …

In this paper, a full-kinematic model and a visual-servo control system for recently introduced
cooperative continuum robots (CCRs) are proposed. The focus will be on operative …

Despite the importance of grasp synthesis for autonomous robotic operations, its formulation
for continuum robots (CRs) has yet to be investigated. This paper presents a grasp …

Soft-continuum robots attract researchers owing to their advantages over rigid-bodied robots
such as adaptation of the flexible structure to tortuous environments, and compliant contact …

Obtaining mathematical equations to model the kinematics of a hyper-redundant robot is not
intuitive and of greater difficulty than for traditional robots. Depending on the characteristics …