most citedLie Group Formulation and Sensitivity Analysis for Shape Sensing of Variable Curvature Continuum Robots with General String Encoder Routing

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cs.RO2022★ 1 cited

Lie Group Formulation and Sensitivity Analysis for Shape Sensing of Variable Curvature Continuum Robots with General String Encoder Routing

Andrew L. Orekhov, Elan Z. Ahronovich, Nabil Simaan

This paper considers a combination of actuation tendons and measurement strings to achieve accurate shape sensing and direct kinematics of continuum robots. Assuming general string…