Design and Quasistatic Modelling of Hybrid Continuum Multi-Arm Robots
Zisos Mitros,S.M.Hadi Sadati,Sotirios Nousias,Lyndon Da Cruz,Christos Bergeles,Zisos Mitros,S.M.Hadi Sadati,Sotirios Nousias,Lyndon Da Cruz,Christos Bergeles
Continuum surgical robots can navigate anatomical pathways to reach pathological locations deep inside the human body. Their flexibility, however, generally comes with reduced dexterity at their tip and limited workspace. Building on recent work on eccentric tube robots, this paper proposes a new continuum robot architecture and theoretical framework that combines the flexibility of push/pull actu...
