...A. Ghoul; S. Djeffal; H. Wang; K. Kara; M. L. Hadjili This paper tackles the challenges encountered in surgical continuum robotics by introducing a dynamic model tailored for a cable-driven continuum robot. The intricacies of dynamic modeling and control frequently lead to suboptimal outcomes...

... of M echanisms and R obotics . 29 09 2023 22 05 2024 23 05 2024 17 06 2024 Graphical Abstract Figure bio-inspired cable-driven cable-driven mechanisms mechanisms and robots Building modular manipulators brings many benefits. The number of modules...

...Vincenzo Di Paola; Alexandre Goldsztejn; Matteo Zoppi; Stéphane Caro A redundant cable-driven platform (CDP) is composed of m cables that exceed the degree-of-freedom (DoF) of the end-effector. The choice of tension along the cables admits infinite solutions. This paper proposes the use...

... and compression (and buckling) in the bars [ 3 ]. Conselho Nacional de Desenvolvimento Científico e Tecnológico 10.13039/501100003593 132166/2018-6 nonlinear statics cable-driven tensegrity dynamics 21 08 2023 06 12 2023 07 12 2023 01 02 2024 Contributed...

... and grasping for objects. Compared to the previous imitation seahorse tail robot, the helical winding structure not only provides a larger grasping area compared to in-plane form but also achieves a better bionic effect. seahorse tail continuum robot cable-driven helical winding static model...

... echanisms and R obotics . 13 05 2023 30 08 2023 30 08 2023 04 10 2023 cable-driven compliant mechanisms and robots grasping multi-finger hands mechanism design National Natural Science Foundation of China 10.13039/501100001809 No. 52075015 No. U1813221...

...Qiang Yang; Qinghua Zhou; Guangwu Zhou; Ming Jiang; Zhijun Zhao Cable-driven hyper-redundant manipulator (CDHM) with flexible and compliant configuration has high maneuverability in a tight space owing to its multiple degrees of freedom (DOFs). However, an increase in the DOFs of the manipulator...

...Hang Xiao; Jianyin Tang; Shengnan Lyu; Kun Xu; Xilun Ding Cable-driven arms have the advantages of light weight, large workspace, good compliance, high-speed, and acceleration. This paper proposes a cable-driven variable stiffness humanoid arm that can reproduce typical daily postures of the upper...

...Yifan Huang; Lei Yan; Taiwei Yang; Zhonghua Hu; Wenfu Xu A cable-driven redundant manipulator (CDRM) composed of quaternion joints has important applications in confined space, including minimal invasive surgery, aircraft parts assembly, environment exploring, and so on. Benefitting from the unique...

...Xinbo Chen; Jiantao Yao; Tong Li; Haili Li; Pan Zhou; Yundou Xu; Yongsheng Zhao Cable-driven continuum robots exhibit excellent capabilities in the unstructured environment due to their inherent compliance and dexterity. To improve the reliability and load capacity of continuum robots, increasing...