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A general modular framework for modeling cable-driven continuum surgical robots
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AI
DOI：10.1016/j.ijmecsci.2026.111521.png)
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Abstract
En 中文
• Solves structural dependency with a unified modeling framework for diverse CDCSRs. • Novel displacement-based theory accurately resolves dual antagonism. • Closed solutions enable real-time, sensorless force and shape sensing.
Keywords:
modular framework
cable-driven continuum robots
structural dependency
displacement-based theory
real-time sensing
Journal
IF:
9.4
Papers:
1.0W
Citations:
4.5W
Organization
Cited Papers
ShareSaveMultifunctional Magnetic Catheter Robot with Triaxial Force Sensing Capability for Minimally Invasive Surgery.png)
RESEARCH
OAAI
RESEARCHIF10.7
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