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cs.RO2026
Capstan-driven Continuum Surgical Robot: Design, Modeling, and Perception
Gang Zhang, Yufu Qiu, Junyan Yan +3
Shape and force sensing have long been critical bottlenecks in the development of compact capstan-driven continuum surgical robots, primarily due to the difficulty of obtaining cab…
cs.RO2026
Cable-driven Continuum Robotics: Proprioception via Proximal-integrated Force Sensing
Gang Zhang, Junyan Yan, Jibiao Chen +1
Micro-scale continuum robots face significant limitations in achieving three-dimensional contact force perception, primarily due to structural miniaturization, nonlinear mechanical…