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IJRR
2010
144views more  IJRR 2010»
13 years 9 months ago
Equilibrium Conformations of Concentric-tube Continuum Robots
Robots consisting of several concentric, preshaped, elastic tubes can work dexterously in narrow, constrained, and/or winding spaces, as are commonly found in minimally invasive s...
D. Caleb Rucker, Robert J. Webster III, Gregory S....
ICRA
2009
IEEE
130views Robotics» more  ICRA 2009»
14 years 5 months ago
Mechanics of bending, torsion, and variable precurvature in multi-tube active cannulas
— Active cannulas are a relatively new continuum robot subclass characterized by their use of preshaped tubes that transmit bending moments as they slide within one another and a...
D. Caleb Rucker, Robert J. Webster