Design of a master device for controlling multi-moduled continuum robots

Few interface systems designed to control continuum robots have been developed. This work presents a master device for multi-unit continuum robots. The master mechanism has the same kinematic structure as the slave device. The kinematic structure, which uses a spring as a backbone, allows for a uniq...

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Veröffentlicht in:	Proceedings of the Institution of Mechanical Engineers. Part C, Journal of mechanical engineering science Journal of mechanical engineering science, 2017-05, Vol.231 (10), p.1921-1931
Hauptverfasser:	Yoon, Hyun-Soo, Yi, Byung-Ju
Format:	Artikel
Sprache:	eng
Schlagworte:	Degrees of freedom Interfaces Kinematics Robot control Robots Weight reduction
Online-Zugang:	Volltext
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