{"status":"ok","message-type":"work","message-version":"1.0.0","message":{"indexed":{"date-parts":[[2026,1,13]],"date-time":"2026-01-13T21:40:26Z","timestamp":1768340426905,"version":"3.49.0"},"reference-count":49,"publisher":"Springer Science and Business Media LLC","license":[{"start":{"date-parts":[[2022,12,13]],"date-time":"2022-12-13T00:00:00Z","timestamp":1670889600000},"content-version":"tdm","delay-in-days":0,"URL":"https:\/\/www.springernature.com\/gp\/researchers\/text-and-data-mining"},{"start":{"date-parts":[[2022,12,13]],"date-time":"2022-12-13T00:00:00Z","timestamp":1670889600000},"content-version":"vor","delay-in-days":0,"URL":"https:\/\/www.springernature.com\/gp\/researchers\/text-and-data-mining"}],"funder":[{"DOI":"10.13039\/501100002790","name":"Canadian Network for Research and Innovation in Machining Technology, Natural Sciences and Engineering Research Council of Canada","doi-asserted-by":"publisher","award":["2017-06930"],"award-info":[{"award-number":["2017-06930"]}],"id":[{"id":"10.13039\/501100002790","id-type":"DOI","asserted-by":"publisher"}]}],"content-domain":{"domain":["link.springer.com"],"crossmark-restriction":false},"short-container-title":["Intel Serv Robotics"],"DOI":"10.1007\/s11370-022-00449-z","type":"journal-article","created":{"date-parts":[[2022,12,13]],"date-time":"2022-12-13T16:10:49Z","timestamp":1670947849000},"update-policy":"https:\/\/doi.org\/10.1007\/springer_crossmark_policy","source":"Crossref","is-referenced-by-count":1,"title":["Multiple aspects grasp quality evaluation in underactuated grasp of tendon-driven continuum robots"],"prefix":"10.1007","author":[{"ORCID":"https:\/\/orcid.org\/0000-0003-4096-2856","authenticated-orcid":false,"given":"Ali","family":"Mehrkish","sequence":"first","affiliation":[],"role":[{"role":"author","vocabulary":"crossref"}]},{"ORCID":"https:\/\/orcid.org\/0000-0002-0314-0688","authenticated-orcid":false,"given":"Farrokh","family":"Janabi-Sharifi","sequence":"additional","affiliation":[],"role":[{"role":"author","vocabulary":"crossref"}]},{"ORCID":"https:\/\/orcid.org\/0000-0001-7527-1014","authenticated-orcid":false,"given":"Masoud","family":"Goharimanesh","sequence":"additional","affiliation":[],"role":[{"role":"author","vocabulary":"crossref"}]},{"ORCID":"https:\/\/orcid.org\/0000-0003-3970-7989","authenticated-orcid":false,"given":"Somayeh","family":"Norouzi-Ghazbi","sequence":"additional","affiliation":[],"role":[{"role":"author","vocabulary":"crossref"}]}],"member":"297","published-online":{"date-parts":[[2022,12,13]]},"reference":[{"key":"449_CR1","unstructured":"Bryson Black C (2017) Modeling, analysis, force sensing and control of continuum robots for minimally invasive surgery. Ph.D. thesis, University of Tennessee"},{"issue":"8","key":"449_CR2","doi-asserted-by":"publisher","first-page":"557","DOI":"10.1080\/01691864.2013.879371","volume":"28","author":"J Jung","year":"2014","unstructured":"Jung J, Penning RS, Zinn MR (2014) A modeling approach for robotic catheters: Effects of nonlinear internal device friction. Adv Robot 28(8):557\u2013572","journal-title":"Adv Robot"},{"issue":"1","key":"449_CR3","doi-asserted-by":"publisher","first-page":"426","DOI":"10.1109\/LRA.2017.2759789","volume":"3","author":"A Lotfavar","year":"2017","unstructured":"Lotfavar A, Hasanzadeh S, Janabi-Sharifi F (2017) Cooperative continuum robots: concept, modeling, workspace analysis. IEEE Robot Autom Lett 3(1):426\u2013433","journal-title":"IEEE Robot Autom Lett"},{"key":"449_CR4","doi-asserted-by":"crossref","unstructured":"Norouzi-Ghazbi S, Mehrkish A, Janabi-Sharifi F, (2020) Jacobian formulation for two classes of cooperative continuum robots. In: Proc. of the Canadian Society for Mech. Eng. Int. Cong. (CSME), pp. 3\u20138","DOI":"10.32393\/csme.2020.1279"},{"issue":"1","key":"449_CR5","doi-asserted-by":"publisher","first-page":"51","DOI":"10.5194\/ms-2-51-2011","volume":"2","author":"N Giri","year":"2011","unstructured":"Giri N, Walker ID (2011) Continuum robots and underactuated grasping. Mech Sci 2(1):51\u201358","journal-title":"Mech Sci"},{"issue":"3","key":"449_CR6","doi-asserted-by":"publisher","first-page":"337","DOI":"10.1016\/j.robot.2011.07.014","volume":"60","author":"D Prattichizzo","year":"2012","unstructured":"Prattichizzo D, Malvezzi M, Gabiccini M, Bicchi A (2012) On the manipulability ellipsoids of underactuated robotic hands with compliance. Robot Auton Syst 60(3):337\u2013346","journal-title":"Robot Auton Syst"},{"key":"449_CR7","unstructured":"Li J, Teng Z, Xiao J, Kapadia A, Bartow A, Walker ID (2013) Autonomous continuum grasping. In: Proceedings of the IEEE\/RSJ international conference on intelligent robots and systems, pp 4569\u20134576"},{"key":"449_CR8","doi-asserted-by":"crossref","unstructured":"Li J, Xiao J (2013) Progressive generation of force-closure grasps for an n-section continuum manipulator. In Proceedings of international conference on robotics and automation, pp 4016\u20134022","DOI":"10.1109\/ICRA.2013.6631143"},{"key":"449_CR9","doi-asserted-by":"crossref","unstructured":"Li J, Xiao J (2011) Determining \u2018grasping\u2019 configurations for a spatial continuum manipulator. In: Proc. IEEE Int. Conf. Intell. Robots Syst, pp. 4207\u20134214","DOI":"10.1109\/IROS.2011.6094663"},{"key":"449_CR10","doi-asserted-by":"publisher","DOI":"10.1016\/j.mechmachtheory.2021.104575","volume":"168","author":"A Mehrkish","year":"2021","unstructured":"Mehrkish A, Janabi-Sharifi F (2021) Grasp synthesis of continuum robots. Mech Mach Theory 168:104575","journal-title":"Mech Mach Theory"},{"issue":"1","key":"449_CR11","doi-asserted-by":"publisher","first-page":"65","DOI":"10.1007\/s10514-014-9402-3","volume":"38","author":"MA Roa","year":"2014","unstructured":"Roa MA, Su\u00e1rez R (2014) Grasp quality measures: review and performance. Auton Robots 38(1):65\u201388","journal-title":"Auton Robots"},{"key":"449_CR12","doi-asserted-by":"publisher","DOI":"10.1016\/j.robot.2021.103860","volume":"145","author":"A Mehrkish","year":"2021","unstructured":"Mehrkish A, Janabi-sharifi F (2021) A comprehensive grasp taxonomy of continuum robots. Robot Auton Syst 145:103860","journal-title":"Robot Auton Syst"},{"issue":"4","key":"449_CR13","first-page":"271","volume":"54","author":"DB Camarillo","year":"2009","unstructured":"Camarillo DB, Carlson CR, Salisbury JK (2009) Task-space control of continuum manipulators with coupled tendon drive. IEEE Trans Robot 54(4):271\u2013280","journal-title":"IEEE Trans Robot"},{"issue":"2","key":"449_CR14","doi-asserted-by":"publisher","first-page":"209","DOI":"10.1109\/TRO.2009.2035740","volume":"26","author":"PE Dupont","year":"2010","unstructured":"Dupont PE, Member S, Lock J, Itkowitz B, Butler E, Member S (2010) Design and control of concentric-tube robots. IEEE Trans Robot 26(2):209\u2013225","journal-title":"IEEE Trans Robot"},{"key":"449_CR15","doi-asserted-by":"crossref","unstructured":"Jabari M, Zakeri M, Janabi-Sharifi F, Norouzi-Ghazbi S (2021) Inverse kinematics of concentric tube robots in the presence of environmental constraints. Appl BionBiomech, pp 1\u201312","DOI":"10.1155\/2021\/4107732"},{"issue":"1","key":"449_CR16","doi-asserted-by":"publisher","first-page":"5660","DOI":"10.1016\/j.ifacol.2017.08.1115","volume":"50","author":"F Hisch","year":"2017","unstructured":"Hisch F, Giusti A, Althoff M (2017) Robust control of continuum robots using interval arithmetic. IFAC-PapersOnLine 50(1):5660\u20135665","journal-title":"IFAC-PapersOnLine"},{"issue":"3","key":"449_CR17","doi-asserted-by":"publisher","first-page":"326","DOI":"10.1016\/j.robot.2011.07.016","volume":"60","author":"A Sahbani","year":"2012","unstructured":"Sahbani A, El-Khoury S, Bidaud P (2012) An overview of 3D object grasp synthesis algorithms. Robot Auton Syst 60(3):326\u2013336","journal-title":"Robot Auton Syst"},{"key":"449_CR18","unstructured":"R. Suarez and J. C. Maximo Roa, \u201cGrasp quality measures,\u201d Syst. Sci., vol. 24, no. 2, pp. 71\u201386, 2006."},{"key":"449_CR19","doi-asserted-by":"publisher","first-page":"275","DOI":"10.4028\/www.scientific.net\/AMM.660.275","volume":"660","author":"A Rafidah","year":"2014","unstructured":"Rafidah A, Nurulhuda A, Azrina A, Suhaila Y, Anwar IS, Syafiq RA (2014) Comparison design of experiment (DOE): Taguchi method and full factorial design in surface roughness. Appl Mech Mater 660:275\u2013279","journal-title":"Appl Mech Mater"},{"issue":"6","key":"449_CR20","doi-asserted-by":"publisher","first-page":"193","DOI":"10.13189\/ujme.2014.020603","volume":"2","author":"PK Singh","year":"2014","unstructured":"Singh PK, Krishna CM (2014) Continuum arm robotic manipulator: a review. Univ J Mech Eng 2(6):193\u2013198","journal-title":"Univ J Mech Eng"},{"issue":"1","key":"449_CR21","doi-asserted-by":"publisher","first-page":"3","DOI":"10.1007\/s12555-016-0462-3","volume":"15","author":"C Lee","year":"2017","unstructured":"Lee C et al (2017) Soft robot review. Int J Control Autom Syst 15(1):3\u201315","journal-title":"Int J Control Autom Syst"},{"issue":"3","key":"449_CR22","doi-asserted-by":"publisher","first-page":"621","DOI":"10.1109\/TBME.2009.2013134","volume":"56","author":"Y Ganji","year":"2009","unstructured":"Ganji Y, Janabi-Sharifi F (2009) Catheter kinematics for intracardiac navigation. IEEE Trans Biomed Eng 56(3):621\u2013632","journal-title":"IEEE Trans Biomed Eng"},{"key":"449_CR23","unstructured":"Iii RJW, Okamura AM, Cowan NJ (2006) Toward active cannulas: miniature snake-like surgical robots. In: Proceedings of the IEEE\/RSJ international conference on intelligent robots and systems, pp 2857\u20132863"},{"issue":"3","key":"449_CR24","doi-asserted-by":"publisher","first-page":"181","DOI":"10.1038\/nrurol.2016.252","volume":"14","author":"J Baard","year":"2017","unstructured":"Baard J, De Bruin DM, Zondervan PJ, Kamphuis G, De Rosette J, Laguna MP (2017) Diagnostic dilemmas in patients with upper tract urothelial carcinoma. Nat Rev Urol 14(3):181","journal-title":"Nat Rev Urol"},{"issue":"11","key":"449_CR25","first-page":"1","volume":"10","author":"F Izzo","year":"2015","unstructured":"Izzo F et al (2015) Hepatocellular carcinoma and liver metastases: clinical data on a new dual-lumen catheter kit for surgical sealant infusion to prevent perihepatic bleeding and dissemination of cancer cells following biopsy and loco-regional treatments. Infect Agents Cancer 10(11):1\u20137","journal-title":"Infect Agents Cancer"},{"issue":"11","key":"449_CR26","doi-asserted-by":"publisher","first-page":"950","DOI":"10.1136\/heartjnl-2017-311382","volume":"104","author":"R Francis","year":"2018","unstructured":"Francis R, Lewis C (2018) Myocardial biopsy\u202f: techniques and indications. Heart 104(11):950\u2013958","journal-title":"Heart"},{"issue":"1","key":"449_CR27","first-page":"157","volume":"80","author":"P Moya-Plana","year":"2019","unstructured":"Moya-Plana P, Bresson A, Missistrano D, Temam A, Gorphe S (2019) Multiportal approach to skull base combining endoscopic transnasal surgery and transoral robotic surgery with Da Vinci Xi system: Feasibility assessment and clinical cases. J Neurol Surg Part B Skull Base 80(1):157","journal-title":"J Neurol Surg Part B Skull Base"},{"key":"449_CR28","doi-asserted-by":"crossref","unstructured":"Hunt AJ, Bachmann RJ, Murphy RR, Quinn RD (2011) A rapidly reconfigurable robot for assistance in urban search and rescue. In: Proceedings of the IEEE\/RSJ international conference on intelligent robots and systems, pp 209\u2013214","DOI":"10.1109\/IROS.2011.6095172"},{"key":"449_CR29","unstructured":"Scholl K, Kepplin V, Berns K, Dillmann R (2000) Controlling a multijoint robot for autonomous sewer inspection. In: Proceedings of the IEEE international conference on robotics and automation (Cat. No. 00CH37065), pp 1701\u20131706"},{"key":"449_CR30","doi-asserted-by":"publisher","first-page":"218","DOI":"10.1016\/j.rcim.2016.09.004","volume":"44","author":"D Axinte","year":"2017","unstructured":"Axinte D et al (2017) Development of a slender continuum robotic system for on - wing inspection \/ repair of gas turbine engines. Robot Comput Integr Manuf 44:218\u2013229","journal-title":"Robot Comput Integr Manuf"},{"key":"449_CR31","doi-asserted-by":"crossref","unstructured":"Mehling JS, Diftler MA, Valvo M (2006) A minimally invasive tendril robot for in-Space inspection. In: Proceedings of the IEEE\/RAS-EMBS international conference on biomedical robotics, pp 690\u2013695","DOI":"10.1109\/BIOROB.2006.1639170"},{"issue":"13","key":"449_CR32","doi-asserted-by":"publisher","first-page":"1661","DOI":"10.1177\/0278364910368147","volume":"29","author":"RJ Webster","year":"2010","unstructured":"Webster RJ, Jones BA (2010) Design and kinematic modeling of constant curvature continuum robots: a review. Int J Robot Res 29(13):1661\u20131683","journal-title":"Int J Robot Res"},{"issue":"3","key":"449_CR33","doi-asserted-by":"publisher","first-page":"99","DOI":"10.1155\/2008\/520417","volume":"5","author":"D Trivedi","year":"2008","unstructured":"Trivedi D, Rahn CD, Kier WM, Walker ID (2008) Soft robotics: Biological inspiration, state of the art, and future research. Applied Bionics and Biomechanics 5(3):99\u2013117","journal-title":"Applied Bionics and Biomechanics"},{"issue":"7553","key":"449_CR34","doi-asserted-by":"publisher","first-page":"467","DOI":"10.1038\/nature14543","volume":"521","author":"D Rus","year":"2015","unstructured":"Rus D, Tolley MT (2015) Design, fabrication and control of soft robots. Nature 521(7553):467\u2013475","journal-title":"Nature"},{"issue":"3","key":"449_CR35","doi-asserted-by":"publisher","first-page":"707","DOI":"10.1109\/TRO.2016.2546308","volume":"32","author":"J Li","year":"2016","unstructured":"Li J, Xiao J (2016) Progressive planning of continuum grasping in cluttered space. IEEE Trans Robot 32(3):707\u2013716","journal-title":"IEEE Trans Robot"},{"key":"449_CR36","doi-asserted-by":"crossref","unstructured":"Sadati SH, Naghibi Seyedeh E, Shiva A, Walker ID, Kaspar A, Nanayakkara T (2017) Mechanics of continuum manipulators , a comparative study of five methods with experiments. In: Proc. Annu. Conf. Towar. Auton. Robot. Syst, pp 686\u2013702","DOI":"10.1007\/978-3-319-64107-2_56"},{"issue":"6","key":"449_CR37","doi-asserted-by":"publisher","first-page":"1518","DOI":"10.1109\/TRO.2018.2868815","volume":"34","author":"F Renda","year":"2016","unstructured":"Renda F, Boyer F, Dias J, Seneviratne L (2016) Discrete Cosserat approach for multi-section soft robots dynamics. IEEE Trans Robot 34(6):1518\u20131533","journal-title":"IEEE Trans Robot"},{"issue":"2","key":"449_CR38","doi-asserted-by":"publisher","first-page":"403","DOI":"10.1109\/TRO.2018.2885923","volume":"35","author":"K Oliver-Butler","year":"2019","unstructured":"Oliver-Butler K, Till J, Rucker C (2019) Continuum robot stiffness under external loads and prescribed tendon displacements. IEEE Trans Robot 35(2):403\u2013419","journal-title":"IEEE Trans Robot"},{"key":"449_CR39","doi-asserted-by":"crossref","unstructured":"Jones BA, Gray RL, Turlapati K (2009) Three dimensional statics for continuum robotics. In: Proceedings of the IEEE\/RSJ international conference on intelligent robots and systems, pp 2659\u20132664","DOI":"10.1109\/IROS.2009.5354199"},{"key":"449_CR40","doi-asserted-by":"crossref","unstructured":"Prattichizzo D, Trinkle JC (2008) Handbook of Robotics (Chapter 28: Grasping). Springer, Heidelberg, Berlin, Germany","DOI":"10.1007\/978-3-540-30301-5_29"},{"key":"449_CR41","doi-asserted-by":"publisher","first-page":"1","DOI":"10.5402\/2013\/726506","volume":"2013","author":"ID Walker","year":"2013","unstructured":"Walker ID (2013) Continuous backbone \u2018continuum\u2019 robot manipulators. ISRN Robot 2013:1\u201319","journal-title":"ISRN Robot"},{"key":"449_CR42","doi-asserted-by":"publisher","DOI":"10.1007\/978-3-319-01833-1","volume-title":"From robot to human grasping simulation","author":"B Le\u00f3n","year":"2014","unstructured":"Le\u00f3n B, Morales A, Sancho-Bru J (2014) From robot to human grasping simulation. Springer, Cham"},{"issue":"5","key":"449_CR43","doi-asserted-by":"publisher","first-page":"231","DOI":"10.1080\/01691864.2018.1431150","volume":"32","author":"S Norouzi-Ghazbi","year":"2018","unstructured":"Norouzi-Ghazbi S, Akbarzadeh-T A, Kardan I (2018) Statistically optimized FOPID for output force control of SEAs. Adv Robot 32(5):231\u2013241","journal-title":"Adv Robot"},{"key":"449_CR44","doi-asserted-by":"publisher","DOI":"10.1016\/j.measurement.2019.106879","volume":"151","author":"S Norouzi-Ghazbi","year":"2020","unstructured":"Norouzi-Ghazbi S, Akbarzadeh-T A, Akbarzadeh-T MR (2020) \u201cApplication of Taguchi design in system identification: a simple, generally applicable and powerful method. Meas J Int Meas Confed 151:106879","journal-title":"Meas J Int Meas Confed"},{"key":"449_CR45","doi-asserted-by":"publisher","DOI":"10.1016\/j.mechmachtheory.2020.104043","volume":"154","author":"S Norouzi-Ghazbi","year":"2020","unstructured":"Norouzi-Ghazbi S, Janabi-Sharifi F (2020) Dynamic modeling and system identification of internally actuated, small-sized continuum robots. Mech Mach Theory 154:104043","journal-title":"Mech Mach Theory"},{"issue":"1","key":"449_CR46","doi-asserted-by":"publisher","first-page":"217","DOI":"10.30880\/ijie.2019.11.01.023","volume":"11","author":"NA Ismail","year":"2019","unstructured":"Ismail NA, Ismail MIS, Radzman MAM, Ariffin MKAM, As\u2019arry A (2019) Parametric optimization of robot-based single point incremental forming using Taguchi method. Int J Integr Eng 11(1):217\u2013224","journal-title":"Int J Integr Eng"},{"issue":"6","key":"449_CR47","doi-asserted-by":"publisher","first-page":"E171","DOI":"10.1111\/aor.13870","volume":"45","author":"S Norouzi-Ghazbi","year":"2021","unstructured":"Norouzi-Ghazbi S, Mehrkish A, Abdulhafiz I, Abbasi-Hashemi T, Mahdi A, Janabi-Sharifi F (2021) Design and experimental evaluation of an automated catheter operating system. Artif Organs 45(6):E171\u2013E186","journal-title":"Artif Organs"},{"key":"449_CR48","unstructured":"Hester RD, Cetin M, Kapoor C, Tesar D (1998) A criteria-based approach to grasp synthesis. Master\u2019s thesis, University of Texas at Austin"},{"issue":"4","key":"449_CR49","doi-asserted-by":"publisher","first-page":"839","DOI":"10.1109\/TRO.2009.2020351","volume":"25","author":"MA Roa","year":"2009","unstructured":"Roa MA, Su\u00e1rez R (2009) Computation of independent contact regions for grasping 3-D objects. IEEE Trans Robot 25(4):839\u2013850","journal-title":"IEEE Trans Robot"}],"container-title":["Intelligent Service Robotics"],"original-title":[],"language":"en","link":[{"URL":"https:\/\/link.springer.com\/content\/pdf\/10.1007\/s11370-022-00449-z.pdf","content-type":"application\/pdf","content-version":"vor","intended-application":"text-mining"},{"URL":"https:\/\/link.springer.com\/article\/10.1007\/s11370-022-00449-z\/fulltext.html","content-type":"text\/html","content-version":"vor","intended-application":"text-mining"},{"URL":"https:\/\/link.springer.com\/content\/pdf\/10.1007\/s11370-022-00449-z.pdf","content-type":"application\/pdf","content-version":"vor","intended-application":"similarity-checking"}],"deposited":{"date-parts":[[2022,12,13]],"date-time":"2022-12-13T16:27:06Z","timestamp":1670948826000},"score":1,"resource":{"primary":{"URL":"https:\/\/link.springer.com\/10.1007\/s11370-022-00449-z"}},"subtitle":[],"short-title":[],"issued":{"date-parts":[[2022,12,13]]},"references-count":49,"alternative-id":["449"],"URL":"https:\/\/doi.org\/10.1007\/s11370-022-00449-z","relation":{},"ISSN":["1861-2776","1861-2784"],"issn-type":[{"value":"1861-2776","type":"print"},{"value":"1861-2784","type":"electronic"}],"subject":[],"published":{"date-parts":[[2022,12,13]]},"assertion":[{"value":"3 March 2022","order":1,"name":"received","label":"Received","group":{"name":"ArticleHistory","label":"Article History"}},{"value":"9 November 2022","order":2,"name":"accepted","label":"Accepted","group":{"name":"ArticleHistory","label":"Article History"}},{"value":"13 December 2022","order":3,"name":"first_online","label":"First Online","group":{"name":"ArticleHistory","label":"Article History"}},{"order":1,"name":"Ethics","group":{"name":"EthicsHeading","label":"Declarations"}},{"value":"None.","order":2,"name":"Ethics","group":{"name":"EthicsHeading","label":"Conflicts of interest"}},{"value":"Not applicable.","order":3,"name":"Ethics","group":{"name":"EthicsHeading","label":"Ethical approval"}},{"value":"Not applicable.","order":4,"name":"Ethics","group":{"name":"EthicsHeading","label":"Consent to participate"}},{"value":"Not applicable.","order":5,"name":"Ethics","group":{"name":"EthicsHeading","label":"Consent for publication"}}]}}