Accès ouvert
2026
article
OpenAlex
Yanjun Liu, J C T Lai, Hongliang Ren
Tendon-driven continuum robots with spatial manipulability face fundamental challenges in miniaturization, stemming from the space required to accommodate multiple actuation tendons. Conventional multi-tendon designs create an inherent trade-off between miniaturization, 3D manipulability, and force output. Here, we introduce a class of continuum …
hk
(code pays fourni par la source)
Accès ouvert
2026
article
OpenAlex
Yanjun Liu, J C T Lai, Hongliang Ren
Tendon-driven continuum robots with spatial manipulability face fundamental challenges in miniaturization, stemming from the space required to accommodate multiple actuation tendons. Conventional multi-tendon designs create an inherent trade-off between miniaturization, 3D manipulability, and force output. Here, we introduce a class of continuum …
hk
(code pays fourni par la source)
Accès ouvert
2026
article
OpenAlex
Jiewen Lai, Tian-Ao Ren, Pengfei Ye, Yanjun Liu et autres
Soft slender robots with high aspect ratios are prone to passive deformation due to gravity, rendering conventional kinematics ineffective and necessitating gravity compensation. Existing solutions often rely on multiple onboard sensors, which increase system complexity and reduce generalizability. This paper presents a …
hk, cn, us
(code pays fourni par la source)