Affiliation:
1. Faculty of Engineering University of Nottingham Nottingham NG8 1BB UK
2. School of Biomedical Engineering & Imaging Sciences King's College London London WC2R 2LS UK
3. Department of Electrical & Computer Engineering Clemson University Clemson SC 29634-0915 USA
4. School of Mechanical Engineering Shanghai Jiao Tong University Shanghai 200240 China
Abstract
Herein, recent advances, current limitations, and open challenges in the design, modeling, and control of continuum robots are discussed. Thanks to their lean bodies, these robots achieve a long reach through narrow and tortuous environments, enabling currently unachievable tasks for medical, industrial, and service applications. The recent surge in research on these robots leads to significant advances in design, modeling, and control methods. Herein, these developments with a comprehensive review of existing continuum robots and emerging technologies are examined. Then, modeling and control approaches are compared, and navigation strategies exclusive to continuum robots, such as follow the leader, coiling, and circumnutation are examined. Finally, an overview of their applications is provided with a focus on industrial and service tasks, outlining open research challenges and future developments.
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