{"status":"ok","message-type":"work","message-version":"1.0.0","message":{"indexed":{"date-parts":[[2025,8,2]],"date-time":"2025-08-02T17:23:10Z","timestamp":1754155390496,"version":"3.41.2"},"reference-count":31,"publisher":"Emerald","issue":"5","license":[{"start":{"date-parts":[[2019,6,6]],"date-time":"2019-06-06T00:00:00Z","timestamp":1559779200000},"content-version":"tdm","delay-in-days":0,"URL":"https:\/\/www.emerald.com\/insight\/site-policies"}],"content-domain":{"domain":[],"crossmark-restriction":false},"short-container-title":["IR"],"published-print":{"date-parts":[[2019,8,21]]},"abstract":"<jats:sec>\n<jats:title content-type=\"abstract-subheading\">Purpose<\/jats:title>\n<jats:p>The purpose of this paper is to present a novel stretch-retractable single section (SRSS) continuum manipulator which owns three degrees of freedom and higher motion range in three-dimension workspace than regular single continuum manipulator. Moreover, the motion accuracy was analyzed based on the kinematic model. In addition, the experiments were carried out for validation of the theory.<\/jats:p>\n<\/jats:sec>\n<jats:sec>\n<jats:title content-type=\"abstract-subheading\">Design\/methodology\/approach<\/jats:title>\n<jats:p>A kinematics model of the SRSS continuum manipulator is presented for analysis on bending, rotating and retracting in its workspace. To discuss the motion accuracy of the SRSS continuum manipulator, the dexterity theory was introduced based on the decomposing of the Jacobian matrix. In addition, the accuracy of motion is estimated based on the inverse kinematics and dexterity theory. To verify the presented theory, the motion of free end was tracked by an electromagnetic positioning system. According to the comparison of experimental value and theoretical analysis, the free end error of SRSS continuum manipulator is less than 6.24 per cent in the region with favorable dexterity.<\/jats:p>\n<\/jats:sec>\n<jats:sec>\n<jats:title content-type=\"abstract-subheading\">Findings<\/jats:title>\n<jats:p>This paper presents a new stretch-retractable continuum manipulator that the structure was composed of several springs as the backbone. Thus, the SRSS continuum manipulator could own wide motion range depending on its retractable structure. Then, the motion accuracy character of the SRSS continuum manipulator in the different regions of its workspace was obtained both theoretically and experimentally. The results show that the high accuracy region distributes in the vicinity of the outer boundary of the workspace. The motion accuracy gradually decreases with the motion position approaching to the center of its workspace.<\/jats:p>\n<\/jats:sec>\n<jats:sec>\n<jats:title content-type=\"abstract-subheading\">Research limitations\/implications<\/jats:title>\n<jats:p>The presented SRSS continuum manipulator owns three degrees of freedom. The future work would be focused on the two-section structure which will own six degrees of freedom.<\/jats:p>\n<\/jats:sec>\n<jats:sec>\n<jats:title content-type=\"abstract-subheading\">Practical implications<\/jats:title>\n<jats:p>In this study, the SRSS continuum manipulator could be extended to six degrees of freedom continuum robot with two sections that is less one section than regular six degrees of freedom with three single section continuum manipulator.<\/jats:p>\n<\/jats:sec>\n<jats:sec>\n<jats:title content-type=\"abstract-subheading\">Originality\/value<\/jats:title>\n<jats:p>The value of this study is to propose a SRSS continuum manipulator which owns three degrees of freedom and could stretch and retract to expend workspace, for which the accuracy in different regions of the workspace was analyzed and validated based on the kinematics model and experiments. The results could be feasible to plan the motion space of the SRSS continuum manipulator for keeping in suitable accuracy region.<\/jats:p>\n<\/jats:sec>","DOI":"10.1108\/ir-06-2018-0122","type":"journal-article","created":{"date-parts":[[2019,6,6]],"date-time":"2019-06-06T10:20:29Z","timestamp":1559816429000},"page":"573-580","source":"Crossref","is-referenced-by-count":7,"title":["Accuracy estimation of a stretch-retractable single section continuum manipulator based on inverse kinematics"],"prefix":"10.1108","volume":"46","author":[{"given":"Hao","family":"Wang","sequence":"first","affiliation":[],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"GuoHua","family":"Gao","sequence":"additional","affiliation":[],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"Qixiao","family":"Xia","sequence":"additional","affiliation":[],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"Han","family":"Ren","sequence":"additional","affiliation":[],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"LianShi","family":"Li","sequence":"additional","affiliation":[],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"Yuhang","family":"Zheng","sequence":"additional","affiliation":[],"role":[{"role":"author","vocabulary":"crossref"}]}],"member":"140","published-online":{"date-parts":[[2019,6,6]]},"reference":[{"key":"key2022103114485035200_ref001","first-page":"4080","article-title":"Real-time planner for multi-segment continuum manipulator in dynamic environments","volume-title":"IEEE International Conference on Robotics and Automation (ICRA)","year":"2016"},{"key":"key2022103114485035200_ref002","first-page":"1-192","article-title":"104 Design and evaluation of a concentric tube robot for minimally-invasive endoscopic pediatric neurosurgery","volume":"61","year":"2014","journal-title":"Neurosurgery"},{"issue":"6","key":"key2022103114485035200_ref003","first-page":"1","article-title":"Continuum robots for medical applications: a survey","volume":"31","year":"2015","journal-title":"IEEE Transactions on Robotics"},{"issue":"1","key":"key2022103114485035200_ref004","doi-asserted-by":"crossref","first-page":"29","DOI":"10.1109\/TMECH.2016.2608742","article-title":"Interleaved continuum-rigid manipulation: an approach to increase the capability of minimally invasive surgical systems","volume":"22","year":"2017","journal-title":"IEEE\/ASME Transactions on Mechatronics"},{"issue":"2","key":"key2022103114485035200_ref005","doi-asserted-by":"crossref","first-page":"209","DOI":"10.1109\/TRO.2009.2035740","article-title":"Design and control of concentric-tube robots","volume":"26","year":"2010","journal-title":"IEEE Transactions on Robotics: A Publication of the Ieee Robotics and Automation Society"},{"issue":"2","key":"key2022103114485035200_ref010","first-page":"293","article-title":"Forward kinematics modeling of spatial parallel linkage mechanisms based on constraint equations and the numerical solving method","volume":"35","year":"2015","journal-title":"Robotica"},{"issue":"1","key":"key2022103114485035200_ref008","first-page":"1","article-title":"Study on stretch-retractable single-section continuum manipulator","volume":"33","year":"2018","journal-title":"Advanced Robotics"},{"issue":"6","key":"key2022103114485035200_ref006","doi-asserted-by":"crossref","first-page":"565","DOI":"10.1108\/IR-03-2015-0039","article-title":"Workspace calculating and kinematic modelling of a flexible continuum manipulator constructed by steel-wires","volume":"42","year":"2015","journal-title":"Industrial Robot: An International Journal"},{"issue":"2","key":"key2022103114485035200_ref007","article-title":"Stretched backboneless continuum manipulator driven by cannula tendons","volume":"45","year":"2018","journal-title":"Industrial Robot"},{"key":"key2022103114485035200_ref009","doi-asserted-by":"crossref","first-page":"313","DOI":"10.1016\/j.mechmachtheory.2016.06.010","article-title":"Study on the load capacity of a single-section continuum manipulator","volume":"104","year":"2016","journal-title":"Mechanism & Machine Theory"},{"key":"key2022103114485035200_ref011","first-page":"1126","article-title":"Compliant motion control for continuum robots with intrinsic actuation sensing","volume-title":"IEEE International Conference on Robotics and Automation","year":"2011"},{"issue":"3","key":"key2022103114485035200_ref012","doi-asserted-by":"crossref","first-page":"263","DOI":"10.1109\/TRA.2002.1019457","article-title":"Manipulability, force, and compliance analysis for planar continuum manipulators","volume":"18","year":"2002","journal-title":"IEEE Transactions on Robotics and Automation"},{"issue":"19","key":"key2022103114485035200_ref013","doi-asserted-by":"crossref","first-page":"1","DOI":"10.3901\/JME.2010.19.001","article-title":"Kinematic analysis and simulation for cable-driven continuum robot","volume":"46","year":"2010","journal-title":"Journal of Mechanical Engineering"},{"issue":"5","key":"key2022103114485035200_ref014","doi-asserted-by":"crossref","first-page":"2252","DOI":"10.1109\/TMECH.2014.2372635","article-title":"Tendon-driven continuum robot for endoscopic surgery: preclinical development and validation of a tension propagation model","volume":"20","year":"2015","journal-title":"IEEE\/ASME Transactions on Mechatronics"},{"key":"key2022103114485035200_ref015","first-page":"377","article-title":"Development of soft continuum manipulator with pneumatic and tendon driven actuations","volume-title":"International Conference on Ubiquitous Robots and Ambient Intelligence (URAI)","year":"2016"},{"issue":"4","key":"key2022103114485035200_ref016","doi-asserted-by":"crossref","first-page":"209","DOI":"10.5772\/56025","article-title":"Design and analysis of a bio-inspired wire-driven multi-section flexible robot regular paper","volume":"10","year":"2013","journal-title":"International Journal of Advanced Robotic Systems"},{"issue":"5","key":"key2022103114485035200_ref017","doi-asserted-by":"crossref","first-page":"779","DOI":"10.1017\/S0263574708005195","article-title":"Design and realization of a snake-like robot system based on a spatial linkage mechanism","volume":"27","year":"2009","journal-title":"Robotica"},{"issue":"4","key":"key2022103114485035200_ref018","doi-asserted-by":"crossref","first-page":"259","DOI":"10.1109\/3516.653050","article-title":"Application of rubber artificial muscle manipulator as a rehabilitation robot","volume":"2","year":"1997","journal-title":"IEEE\/ASME Transactions on Mechatronics"},{"issue":"2","key":"key2022103114485035200_ref019","doi-asserted-by":"crossref","first-page":"828","DOI":"10.1109\/LRA.2016.2525720","article-title":"Analysis and validation of a teleoperated surgical parallel continuum manipulator","volume":"1","year":"2016","journal-title":"IEEE Robotics and Automation Letters"},{"issue":"7","key":"key2022103114485035200_ref020","doi-asserted-by":"crossref","first-page":"761","DOI":"10.1016\/j.mechmachtheory.2004.02.010","article-title":"Design and workspace analysis of a 6-6 cable-suspended parallel robot","volume":"39","year":"2004","journal-title":"Mechanism & Machine Theory"},{"issue":"2","key":"key2022103114485035200_ref021","doi-asserted-by":"crossref","first-page":"372","DOI":"10.1109\/TRO.2016.2527047","article-title":"Steering of multisegment continuum manipulators using rigid-link modeling and FBG-Based shape sensing","volume":"32","year":"2016","journal-title":"IEEE Transactions on Robotics"},{"issue":"4","key":"key2022103114485035200_ref022","first-page":"678","article-title":"Mechanics modeling of multisegment rod-driven continuum robots","volume":"6","year":"2014","journal-title":"Journal of Mechanisms and Robotics"},{"key":"key2022103114485035200_ref023","first-page":"351","article-title":"A dexterous system for laryngeal surgery","volume-title":"IEEE International Conference on Robotics & Automation","year":"2004"},{"issue":"9","key":"key2022103114485035200_ref024","doi-asserted-by":"crossref","first-page":"1134","DOI":"10.1177\/0278364908104278","article-title":"Design and integration of a telerobotic system for minimally invasive surgery of the throat","volume":"28","year":"2009","journal-title":"International Journal of Robotics Research"},{"key":"key2022103114485035200_ref025","first-page":"1655","article-title":"1Segment continuum manipulator for automatic harvesting robot-prototype and modeling","volume-title":"IEEE International Conference on Mechatronics and Automation (ICMA)","year":"2017"},{"issue":"1","key":"key2022103114485035200_ref026","first-page":"1","article-title":"Continuous backbone \u2018continuum\u2019 robot manipulators","volume":"1","year":"2013","journal-title":"ISRN Robotics"},{"key":"key2022103114485035200_ref027","first-page":"4148","article-title":"Actuation compensation for flexible surgical snake-like manipulators with redundant remote actuation","volume-title":"IEEE International Conference on Manipulatorics and Automation","year":"2006"},{"issue":"5","key":"key2022103114485035200_ref028","doi-asserted-by":"crossref","first-page":"2133","DOI":"10.1109\/TMECH.2014.2364625","article-title":"Development of the SJTU unfoldable robotic system (SURS) for single port laparoscopy","volume":"20","year":"2015","journal-title":"IEEE\/ASME Transactions on Mechatronics"},{"issue":"4","key":"key2022103114485035200_ref029","doi-asserted-by":"crossref","first-page":"880","DOI":"10.1109\/TRO.2014.2309194","article-title":"Model-less feedback control of continuum manipulators in constrained environments","volume":"30","year":"2014","journal-title":"IEEE Transactions on Robotics"},{"key":"key2022103114485035200_ref030","first-page":"1249","article-title":"A 4-DOF flexible continuum robot using a spring backbone","volume-title":"International Conference on Mechatronics and Automation","year":"2009"},{"key":"key2022103114485035200_ref031","first-page":"34","article-title":"Design of cable-driven continuum mechanical arm","volume":"2","year":"2015","journal-title":"Mechanical Engineering & Automation"}],"container-title":["Industrial Robot: the international journal of robotics research and application"],"original-title":[],"language":"en","link":[{"URL":"https:\/\/www.emerald.com\/insight\/content\/doi\/10.1108\/IR-06-2018-0122\/full\/xml","content-type":"application\/xml","content-version":"vor","intended-application":"text-mining"},{"URL":"https:\/\/www.emerald.com\/insight\/content\/doi\/10.1108\/IR-06-2018-0122\/full\/html","content-type":"unspecified","content-version":"vor","intended-application":"similarity-checking"}],"deposited":{"date-parts":[[2025,7,24]],"date-time":"2025-07-24T21:39:19Z","timestamp":1753393159000},"score":1,"resource":{"primary":{"URL":"http:\/\/www.emerald.com\/ir\/article\/46\/5\/573-580\/179094"}},"subtitle":[],"short-title":[],"issued":{"date-parts":[[2019,6,6]]},"references-count":31,"journal-issue":{"issue":"5","published-online":{"date-parts":[[2019,6,6]]},"published-print":{"date-parts":[[2019,8,21]]}},"alternative-id":["10.1108\/IR-06-2018-0122"],"URL":"https:\/\/doi.org\/10.1108\/ir-06-2018-0122","relation":{},"ISSN":["0143-991X","0143-991X"],"issn-type":[{"type":"print","value":"0143-991X"},{"type":"electronic","value":"0143-991X"}],"subject":[],"published":{"date-parts":[[2019,6,6]]}}}