Hybrid Tendon and Ball Chain Continuum Robots for Enhanced Dexterity in Medical Interventions
Giovanni Pittiglio,Margherita Mencattelli,Abdulhamit Donder,Yash Chitalia,Pierre E. Dupont,Giovanni Pittiglio,Margherita Mencattelli,Abdulhamit Donder,Yash Chitalia,Pierre E. Dupont
A hybrid continuum robot design is introduced that combines a proximal tendon-actuated section with a distal telescoping section comprised of permanent-magnet spheres actuated using an external magnet. While, individually, each section can approach a point in its workspace from one or at most several orientations, the two-section combination possesses a dexterous workspace. The paper describes kin...
