{"status":"ok","message-type":"work","message-version":"1.0.0","message":{"indexed":{"date-parts":[[2026,1,22]],"date-time":"2026-01-22T03:44:29Z","timestamp":1769053469773,"version":"3.49.0"},"reference-count":19,"publisher":"Hindawi Limited","license":[{"start":{"date-parts":[[2014,1,1]],"date-time":"2014-01-01T00:00:00Z","timestamp":1388534400000},"content-version":"unspecified","delay-in-days":0,"URL":"http:\/\/creativecommons.org\/licenses\/by\/3.0\/"}],"content-domain":{"domain":[],"crossmark-restriction":false},"short-container-title":["Journal of Robotics"],"published-print":{"date-parts":[[2014]]},"abstract":"<jats:p>Grasping objects by continuum arms or fingers is a new field of interest in robotics. Continuum manipulators have the advantages of high adaptation and compatibility with respect to the object shape. However, due to their extremely nonlinear behavior and infinite degrees of freedom, continuum arms cannot be easily modeled. In fact, dynamics modeling of continuum robotic manipulators is state-of-the-art. Using the exact modeling approaches, such as theory of Cosserat rod, the resulting models are either too much time-taking for computation or numerically unstable. Thus, such models are not suitable for applications such as real-time control. However, based on realistic assumptions and using some approximations, these systems can be modeled with reasonable computational efforts. In this paper, a planar continuum robotic arm is modeled, considering its backbone as two circular arcs. In order to simulate finger grasping, the continuum arm experiences a point-force along its body. Finally, the results are validated using obtained experimental data.<\/jats:p>","DOI":"10.1155\/2014\/308283","type":"journal-article","created":{"date-parts":[[2014,11,20]],"date-time":"2014-11-20T21:13:28Z","timestamp":1416518008000},"page":"1-13","source":"Crossref","is-referenced-by-count":16,"title":["Dynamics Modeling of a Continuum Robotic Arm with a Contact Point in Planar Grasp"],"prefix":"10.1155","volume":"2014","author":[{"given":"Mohammad","family":"Dehghani","sequence":"first","affiliation":[{"name":"Center of Excellence in Robotics and Control, Advanced Robotics and Automated Systems Lab, Department of Mechanical Engineering, Khaje Nasir Toosi University of Technology, Tehran, Iran"}]},{"given":"S. Ali A.","family":"Moosavian","sequence":"additional","affiliation":[{"name":"Center of Excellence in Robotics and Control, Advanced Robotics and Automated Systems Lab, Department of Mechanical Engineering, Khaje Nasir Toosi University of Technology, Tehran, Iran"}]}],"member":"98","reference":[{"key":"1","doi-asserted-by":"publisher","DOI":"10.5402\/2013\/726506"},{"key":"2","doi-asserted-by":"publisher","DOI":"10.1080\/11762320802557865"},{"key":"3","doi-asserted-by":"publisher","DOI":"10.5402\/2013\/890609"},{"key":"4","doi-asserted-by":"publisher","DOI":"10.1177\/0278364910368147"},{"key":"7","doi-asserted-by":"publisher","DOI":"10.1109\/TRO.2011.2175761"},{"key":"9","doi-asserted-by":"publisher","DOI":"10.5402\/2013\/783083"},{"issue":"3","key":"12","first-page":"217","volume":"9","year":"1995","journal-title":"Advanced Robotics"},{"key":"16","volume":"107","year":"2005"},{"key":"17","first-page":"73","volume":"16","year":"2008","journal-title":"Journal of WSCG"},{"key":"18","doi-asserted-by":"publisher","DOI":"10.1109\/TRO.2011.2160469"},{"key":"23","doi-asserted-by":"publisher","DOI":"10.1115\/1.4023636"},{"key":"24","doi-asserted-by":"publisher","DOI":"10.1109\/TMECH.2003.812829"},{"key":"25","doi-asserted-by":"publisher","DOI":"10.1002\/rob.10070"},{"issue":"4","key":"26","volume":"24","year":"2009","journal-title":"International Journal of Robotics and Automation"},{"key":"29","doi-asserted-by":"publisher","DOI":"10.1109\/TRO.2013.2281564"},{"key":"30","doi-asserted-by":"publisher","DOI":"10.1115\/1.4027235"},{"key":"35","doi-asserted-by":"publisher","DOI":"10.1016\/j.scient.2011.03.017"},{"key":"38","doi-asserted-by":"publisher","DOI":"10.1080\/01691864.2013.854452"},{"key":"42","year":"2006"}],"container-title":["Journal of Robotics"],"original-title":[],"language":"en","link":[{"URL":"http:\/\/downloads.hindawi.com\/journals\/jr\/2014\/308283.pdf","content-type":"application\/pdf","content-version":"vor","intended-application":"text-mining"},{"URL":"http:\/\/downloads.hindawi.com\/journals\/jr\/2014\/308283.xml","content-type":"application\/xml","content-version":"vor","intended-application":"text-mining"},{"URL":"http:\/\/downloads.hindawi.com\/journals\/jr\/2014\/308283.pdf","content-type":"unspecified","content-version":"vor","intended-application":"similarity-checking"}],"deposited":{"date-parts":[[2016,7,28]],"date-time":"2016-07-28T20:10:38Z","timestamp":1469736638000},"score":1,"resource":{"primary":{"URL":"http:\/\/www.hindawi.com\/journals\/jr\/2014\/308283\/"}},"subtitle":[],"short-title":[],"issued":{"date-parts":[[2014]]},"references-count":19,"alternative-id":["308283","308283"],"URL":"https:\/\/doi.org\/10.1155\/2014\/308283","relation":{},"ISSN":["1687-9600","1687-9619"],"issn-type":[{"value":"1687-9600","type":"print"},{"value":"1687-9619","type":"electronic"}],"subject":[],"published":{"date-parts":[[2014]]}}}