This paper presents a literature survey documenting the evolution of continuum robots over
the past two decades (1999–present). Attention is paid to bioinspired soft robots with respect …

Continuum robots have become more popular recently due to their scalable dexterity and
mobility. However, they may suffer from issues like insufficient stiffness because they are …

This paper discusses stiffness and antagonistic actuation in light-weight cable-driven bio-
inspired manipulators suitable for safe interactions. Manipulators under study are built upon …

This paper proposes design strategies and a comparative study of two antagonistically
actuated tensegrity joints: a revolute (R) joint and an anti-parallelogram (X) joint …

This paper is devoted to the control and identification of a manipulator with three anti-
parallelogram joints in series, referred to as X-joints. Each X-joint is a tensegrity one-degree …

A planar tensegrity manipulator made of two X-mechanisms in series is studied in this paper.
Contrary to a classical 2-R linkage, the proposed architecture does not contain elements …

This paper proposes a new kind of light-weight manipulators suitable for safe interactions.
The proposed manipulators use anti-parallelogram joints in series, referred to as X-joints …

This study considers two-degree-of-freedom planar tensegrity-inspired manipulators
composed of anti-parallelogram (X) and revolute (R) joints containing springs and actuated …

Tensegrity mechanisms are composed of rigid and tensile parts that are in equilibrium. They
are interesting alternative designs for some applications, such as modeling musculo …

This paper analyzes the kinematics of planar tensegrity manipulators made of two Snelson's
X-shape mechanisms in series. The variable instantaneous center of rotation of each …