Data-Driven Estimation of Forces Along the Backbone of Concentric Tube Continuum Robots
Heiko Donat,Pouya Mohammadi,Jochen Steil,Heiko Donat,Pouya Mohammadi,Jochen Steil
Concentric tube continuum robots (CTCRs) belong to the family of continuum robots with applications in minimally invasive surgeries. Because of this application domain, measuring the external forces along the body of the robot is paramount. CTCRs are made up of thin elastic rods and are intended to be applied inside the human body, where conventional sensor-based measurements are not feasible. Con...
