Planar Inverse Statics and Path Planning for a Tendon-Driven Discrete Continuum Robot by Yeoun-Jae Kim, Daehan Wi

“…To meet these needs, we developed a tendon-driven discrete continuum robot unit featuring a ball–socket joint and superelastic Nitinol rods. …”
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Cosserat Rod-Based Tendon Friction Modeling, Simulation, and Experiments for Tendon-Driven Continuum Robots by Honghong Wang, Jingli Du, Yi Mao

“…Traditional tendon-driven continuum robot (TDCR) models based on Cosserat rod theory often assume that tendon tension is a continuous wrench along the backbone. …”
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A pivot joint steering mechanism for tip-everting soft growing robots by Tianchen Ji, Zheyuan Bi, Lin Cao

“…However, controlling the direction of tip growth is still a challenge because of the ever-changing tip of the robot during tip growth. This study presents a compact steering mechanism that integrates a tendon-driven pivot joint with a pressure-tunable internal bladder. …”
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