Can Elastic Instability Be Beneficial in Concentric Tube Robots?

Concentric tube manipulators exhibit elastic instability in which tubes snap from one configuration to another, rapidly releasing stored strain energy. While this has long been viewed as a negative phenomenon to be avoided at all costs, in this letter, we explore for the first time whether the effec...

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Veröffentlicht in:	IEEE robotics and automation letters 2018-07, Vol.3 (3), p.1624-1630
Hauptverfasser:	Riojas, Katherine E., Hendrick, Richard J., Webster, Robert J.
Format:	Artikel
Sprache:	eng
Schlagworte:	Elastic instability Electron tubes Manipulators Measurement Medical robots and systems Needles Robot arms Stability analysis Strain surgical robotics: laparoscopy Tubes
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