This work tackles practical issues which arise when using a tendon-driven robotic manipulator (TDRM) with a long, flexible, passive proximal section in medical applications. Tendon-driven devices are preferred in medicine for their improved outcomes via minimally invasive procedures, but TDRMs come with unique challenges such as sterilization and reuse, simultaneous control of tendons, hysteresis in the tendon-sheath mechanism, and unmodeled effects of the proximal section shape. A separable TDRM which overcomes difficulties in actuation and sterilization is introduced, in which the body containing the electronics is reusable and the remainder is disposable. An open-loop redundant controller which resolves the redundancy in the kinematics is developed. Simple linear hysteresis compensation and re-tension compensation based on the physical properties of the device are proposed. The controller and compensation methods are evaluated on a testbed for a straight proximal section, a curved proximal section at various static angles, and a proximal section which dynamically changes angles; and overall, distal tip error was reduced.
Actuation space reduction to facilitate insightful shape matching in a novel reconfigurable tendon driven continuum manipulator
Department of Industrial and Enterprise Systems Engineering, University of Illinois Urbana-Champaign（工业与企业系统工程系，伊利诺伊大学厄巴纳-香槟分校）；Department of Mechanical Science and Engineering, University of Illinois, Urbana-Champaign（机械科学与工程系，伊利诺伊大学厄巴纳-香槟分校）
A Modular, Tendon Driven Variable Stiffness Manipulator with Internal Routing for Improved Stability and Increased Payload Capacity
National Robotarium（国家机器人研究院）；Heriot Watt University（赫瑞瓦特大学）；Institute for Integrated Micro and Nano Systems（集成微纳系统研究所）；University of Edinburgh（爱丁堡大学）；Tough Cyberphysical AI Research Center (TCPAI)（硬核赛博物理人工智能研究中心）；Tohoku University（东北大学）；Senai Cimatec（塞奈西马泰克）
Computing forward statics from tendon-length in flexible-joint hyper-redundant manipulators
Institute for Integrated Micro and Nano Systems, School of Engineering, University of Edinburgh（整合微纳系统研究所，工程学院，爱丁堡大学）；CREATE Lab, EPFL（EPFL CREATE 实验室）；Institute for Imaging, Data and Communications, School of Engineering, University of Edinburgh（成像、数据与通信研究所，工程学院，爱丁堡大学）
Co-optimizing Physical Reconfiguration Parameters and Controllers for an Origami-inspired Reconfigurable Manipulator
Colorado State University（科罗拉多州立大学）；University of Massachusetts Amherst（马萨诸塞大学阿默斯特分校）；Manning College of Information and Computer Sciences（曼宁信息与计算机科学学院）
ATDM:An Anthropomorphic Aerial Tendon-driven Manipulator with Low-Inertia and High-Stiffness
Research Institute of Intelligent Control and Systems, Harbin Institute of Technology（哈尔滨工业大学智能控制与系统研究所）；Peng Cheng Laboratory（鹏城实验室）；Ningbo Institute of Intelligent Equipment Technology Co., Ltd.（宁波智能装备技术研究院有限公司）
AI-Enabled Image-Based Hybrid Vision/Force Control of Tendon-Driven Aerial Continuum Manipulators
Department of Mechanical, Industrial, and Mechatronics Engineering, Toronto Metropolitan University（机械、工业与机电工程系，多伦多 Metropolitan 大学）；Department of Mechanical, Industrial, and Aerospace Engineering (MIAE), Concordia University（机械、工业与航空航天工程系（MIAE），康科迪亚大学）
Time-Division Multiplexing Actuation in Tendon-Driven Arms: Lightweight Design and Fault Tolerance
Shenzhen International Graduate School, Tsinghua University（清华大学深圳国际研究生院）；School of Mechanical and Aerospace Engineering, Nanyang Technological University（南洋理工大学机械与航空航天工程学院）；Department of Automation, Tsinghua University（清华大学自动化系）
Cable-driven Continuum Robotics: Proprioception via Proximal-integrated Force Sensing
The Chinese University of Hong Kong（香港中文大学）；T Stone Robotics Institute（T Stone机器人研究所）；Department of Mechanical and Automation Engineering（机械与自动化工程系）；Shun Hing Institute of Advanced Engineering（顺兴先进工程研究院）；Multi-Scale Medical Robotics Center（多尺度医疗机器人中心）；Curve Robotics Limited（Curve机器人有限公司）
Tactile SoftHand-A: 3D-Printed, Tactile, Highly-underactuated, Anthropomorphic Robot Hand with an Antagonistic Tendon Mechanism
School of Engineering Mathematics and Technology（工程数学与技术学院）；Bristol Robotics Laboratory（布里斯托尔机器人实验室）；University of Bristol（布里斯托尔大学）；School of Robotics（机器人学院）；Xi'an Jiaotong-Liverpool University（西安交通大学利物浦大学）；Department of Information Engineering（信息工程系）；Research Center "E.Piaggio"（E.Piaggio研究中心）；University of Pisa（比萨大学）；Soft Robotics for Human Cooperation and Rehabilitation（人机合作与康复软机器人）；Istituto Italiano di Tecnologia（意大利技术研究院）
Continuous and large-scale: ELEANOR, the soft architected arm inspired by the elephant trunk
Soft BioRobotics Perception Laboratory, Istituto Italiano di Tecnologia（软生物机器人感知实验室，意大利理工学院）；Department of Autonomous Systems Engineering, Korea Aerospace University（自主系统工程系，韩国航空航天大学）；Photocentric Ltd.（Photocentric公司）；BRAIR lab, The BioRobotics Institute, Scuola Superiore Sant’Anna（BRAIR实验室，生物机器人研究所，圣安娜高等学院）；Laboratory of Artificial and Natural Evolution, Department of Genetics and Evolution, University of Geneva（人工与自然进化实验室，基因与进化系，日内瓦大学）
