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- W2736959968 abstract "This paper introduces a novel kinematic structure based on the concentric tube robotConcentric tube robot (CTR) paradigm, augmented with embedded soft micro-actuation. The latter allows to replace troublesome R-joints in CTR with 3 tubes by active tube curvatures (Cu-joints). First, the forward kinematic model is derived. Furthermore, the inverse kinematic problem is partially solved by restricting it to 3-translations/1-rotation movements. Finally, the inverse model is used to perform path planning schemes in medical scenarios." @default.
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- W2736959968 date "2017-07-27" @default.
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- W2736959968 title "Inverse Kinematics Analysis of a P2CuP2Cu Concentric Tube Robot with Embedded Micro-actuation for 3T-1R Contactless Tasks" @default.
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- W2736959968 doi "https://doi.org/10.1007/978-3-319-56802-7_6" @default.
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