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Such models should be fast, as simple as possible, and user-friendly to be widely accepted by the ever-growing robotics research community. In this study, we introduce two new modeling methods for continuum manipulators: a general reduced-order model (ROM) and a discretized model with absolute states and Euler\u2013Bernoulli beam segments (EBA). In addition, a new formulation is presented for a recently introduced discretized model based on Euler\u2013Bernoulli beam segments and relative states (EBR). We implement these models in a Matlab software package, named TMTDyn, to develop a modeling tool for hybrid rigid\u2013continuum systems. The package features a new high-level language (HLL) text-based interface, a CAD-file import module, automatic formation of the system equation of motion (EOM) for different modeling and control tasks, implementing Matlab C-mex functionality for improved performance, and modules for static and linear modal analysis of a hybrid system. The underlying theory and software package are validated for modeling experimental results for (i) dynamics of a continuum appendage, and (ii) general deformation of a fabric sleeve worn by a rigid link pendulum. A comparison shows higher simulation accuracy (8\u201314% normalized error) and numerical robustness of the ROM model for a system with a small number of states, and computational efficiency of the EBA model with near real-time performances that makes it suitable for large systems. The challenges and necessary modules to further automate the design and analysis of hybrid systems with a large number of states are briefly discussed.<\/jats:p>","DOI":"10.1177\/0278364919881685","type":"journal-article","created":{"date-parts":[[2020,1,6]],"date-time":"2020-01-06T05:00:25Z","timestamp":1578286825000},"page":"296-347","update-policy":"https:\/\/doi.org\/10.1177\/sage-journals-update-policy","source":"Crossref","is-referenced-by-count":77,"title":["<i>TMTDyn<\/i>\n                    : A Matlab package for modeling and control of hybrid rigid\u2013continuum robots based on discretized lumped systems and reduced-order models"],"prefix":"10.1177","volume":"40","author":[{"ORCID":"https:\/\/orcid.org\/0000-0002-5862-265X","authenticated-orcid":false,"given":"S.M. 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UK"}],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"Matthew","family":"Howard","sequence":"additional","affiliation":[{"name":"Department of Informatics, King\u2019s College London, London, UK"}],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"Caleb D.","family":"Rucker","sequence":"additional","affiliation":[{"name":"University of Tennessee, Knoxville, TN, USA"}],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"Kaspar","family":"Althoefer","sequence":"additional","affiliation":[{"name":"School of Engineering and Materials Science, Queen Mary University of London, London, UK"}],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"Thrishantha","family":"Nanayakkara","sequence":"additional","affiliation":[{"name":"Dyson School of Design Engineering, Imperial College London, London, UK"}],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"Steffen","family":"Zschaler","sequence":"additional","affiliation":[{"name":"Department 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