{"status":"ok","message-type":"work","message-version":"1.0.0","message":{"indexed":{"date-parts":[[2026,10,26]],"date-time":"2026-10-26T16:53:17Z","timestamp":1793033597685,"version":"4.5.0"},"reference-count":22,"publisher":"Walter de Gruyter GmbH","issue":"7","license":[{"start":{"date-parts":[[2023,7,1]],"date-time":"2023-07-01T00:00:00Z","timestamp":1688169600000},"content-version":"unspecified","delay-in-days":0,"URL":"http:\/\/creativecommons.org\/licenses\/by\/4.0"}],"content-domain":{"domain":[],"crossmark-restriction":false},"short-container-title":[],"published-print":{"date-parts":[[2023,7,26]]},"abstract":"<jats:title>Abstract<\/jats:title>\n               <jats:p>Continuum robots for application in medicine are of high interest in recent research. However, as most systems in literature show complex and large actuator units, setting up such a system can be time consuming, costly and results in a bulky system, unsuitable for the spatial requirements given in surgical scenarios. In this work, a compact, efficient continuum robotic system is presented. A pair of two antagonistic tendons is controlled by a single servo motor instead of single tendon actuation. This way, the actuator footprint is maintained at a minimum size and the method results in a simpler setup. The resulting 260\u202fmm long robot with 9.9\u202fmm diameter achieves a repeatability with an error of maximum 1.8\u202f% of its length. In future work, this work serves as a basis for integration of various sensing modalities in continuum robots and evaluation of control algorithms.<\/jats:p>","DOI":"10.1515\/auto-2023-0066","type":"journal-article","created":{"date-parts":[[2023,7,17]],"date-time":"2023-07-17T11:23:38Z","timestamp":1689593018000},"page":"528-536","source":"Crossref","is-referenced-by-count":6,"title":["Continuum robot actuation by a single motor per antagonistic tendon pair: workspace and repeatability analysis"],"prefix":"10.1515","volume":"71","author":[{"given":"Christian","family":"Marzi","sequence":"first","affiliation":[{"name":"Institute for Anthropomatics and Robotics (IAR) at Karlsruhe Institute of Technology (KIT) , 76131 Karlsruhe , Germany"}],"role":[{"vocabulary":"crossref","role":"author"}]},{"given":"Felix","family":"Buck","sequence":"additional","affiliation":[{"name":"Institute for Anthropomatics and Robotics (IAR) at Karlsruhe Institute of Technology (KIT) , 76131 Karlsruhe , Germany"}],"role":[{"vocabulary":"crossref","role":"author"}]},{"given":"Franziska","family":"Mathis-Ullrich","sequence":"additional","affiliation":[{"name":"Dep. Artificial Intelligence in Biomedical Engineering (AIBE) at Friedrich-Alexander University Erlangen-N\u00fcrnberg (FAU) , 91052 Erlangen , Germany"}],"role":[{"vocabulary":"crossref","role":"author"}]}],"member":"374","published-online":{"date-parts":[[2023,7,14]]},"reference":[{"key":"2024032604135389374_j_auto-2023-0066_ref_001","doi-asserted-by":"crossref","unstructured":"Z. Mitros, S. H. Sadati, R. Henry, L. Da Cruz, and C. Bergeles, \u201cFrom theoretical work to clinical translation: progress in concentric tube robots,\u201d Annu. Rev. Control Robot. Auton. Syst., vol.\u00a05, no.\u00a01, pp.\u00a0335\u2013359, 2022. https:\/\/doi.org\/10.1146\/annurev-control-042920-014147.","DOI":"10.1146\/annurev-control-042920-014147"},{"key":"2024032604135389374_j_auto-2023-0066_ref_002","doi-asserted-by":"crossref","unstructured":"H. Alfalahi, F. Renda, and C. 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Dong, et al.., \u201cContinuum robots: an overview,\u201d Adv. Intell. Syst., vol.\u00a05, p.\u00a02200367, 2023. https:\/\/doi.org\/10.1002\/aisy.202200367.","DOI":"10.1002\/aisy.202370020"},{"key":"2024032604135389374_j_auto-2023-0066_ref_008","doi-asserted-by":"crossref","unstructured":"J. Burgner-Kahrs, D. C. Rucker, and H. Choset, \u201cContinuum robots for medical applications: a survey,\u201d IEEE Trans. Robot., vol.\u00a031, no.\u00a06, pp.\u00a01261\u20131280, 2015. https:\/\/doi.org\/10.1109\/tro.2015.2489500.","DOI":"10.1109\/TRO.2015.2489500"},{"key":"2024032604135389374_j_auto-2023-0066_ref_009","doi-asserted-by":"crossref","unstructured":"Y. Zhong, L. Hu, and Y. Xu, \u201cRecent advances in design and actuation of continuum robots for medical applications,\u201d Actuators, vol.\u00a09, no.\u00a04, p.\u00a0142, 2020. https:\/\/doi.org\/10.3390\/act9040142.","DOI":"10.3390\/act9040142"},{"key":"2024032604135389374_j_auto-2023-0066_ref_010","doi-asserted-by":"crossref","unstructured":"N. P. Castledine, J. H. Boyle, and J. Kim, \u201cDesign of a modular continuum robot segment for use in a general purpose manipulator,\u201d in 2019 International Conference on Robotics and Automation (ICRA), 2019, pp.\u00a04430\u20134435.","DOI":"10.1109\/ICRA.2019.8794249"},{"key":"2024032604135389374_j_auto-2023-0066_ref_011","doi-asserted-by":"crossref","unstructured":"A. Yeshmukhametov, K. Koganezawa, Y. Yamamoto, Z. Buribayev, Z. Mukhtar, and Y. Amirgaliyev, \u201cDevelopment of continuum robot arm and gripper for harvesting cherry tomatoes,\u201d Appl. Sci., vol.\u00a012, no.\u00a014, p.\u00a06922, 2022. https:\/\/doi.org\/10.3390\/app12146922.","DOI":"10.3390\/app12146922"},{"key":"2024032604135389374_j_auto-2023-0066_ref_012","doi-asserted-by":"crossref","unstructured":"A. Yeshmukhametov, K. Koganezawa, and Y. Yamamoto, \u201cDesign and kinematics of cable-driven continuum robot arm with universal joint backbone,\u201d in 2018 IEEE International Conference on Robotics and Biomimetics (ROBIO), 2018, pp.\u00a02444\u20132449.","DOI":"10.1109\/ROBIO.2018.8665186"},{"key":"2024032604135389374_j_auto-2023-0066_ref_013","doi-asserted-by":"crossref","unstructured":"B. Deutschmann, J. Reinecke, and A. Dietrich, \u201cOpen source tendon-driven continuum mechanism: a platform for research in soft robotics,\u201d in 2022 IEEE 5th International Conference on Soft Robotics (RoboSoft), 2022, pp.\u00a054\u201361.","DOI":"10.1109\/RoboSoft54090.2022.9762144"},{"key":"2024032604135389374_j_auto-2023-0066_ref_014","doi-asserted-by":"crossref","unstructured":"L. Fasel, N. Gerig, P. C. Cattin, and G. Rauter, \u201cTendon force control evaluation for an endoscope with series elastic actuation,\u201d in New Trends in Medical and Service Robotics, G. Rauter, P. C. Cattin, A. Zam, R. Riener, G. Carbone, and D. Pisla, Eds., Cham, Springer International Publishing, 2021, pp.\u00a0118\u2013126.","DOI":"10.1007\/978-3-030-58104-6_14"},{"key":"2024032604135389374_j_auto-2023-0066_ref_015","doi-asserted-by":"crossref","unstructured":"M. Eugster, C. Duverney, M. Karnam, N. Gerig, P. C. Cattin, and G. Rauter, \u201cRobotic endoscope system for future application in minimally invasive laser osteotomy: first concept evaluation,\u201d IEEE Trans. Med. Robot. Bionics, vol.\u00a04, no.\u00a03, pp.\u00a0621\u2013633, 2022. https:\/\/doi.org\/10.1109\/tmrb.2022.3172471.","DOI":"10.1109\/TMRB.2022.3172471"},{"key":"2024032604135389374_j_auto-2023-0066_ref_016","doi-asserted-by":"crossref","unstructured":"W. F. Feng, L. Xie, and G.-Z. Yang, \u201cA two-segment continuum robot with piecewise stiffness for maxillary sinus surgery and its decoupling method,\u201d IEEE\/ASME Trans. Mechatron., vol.\u00a027, no.\u00a06, pp.\u00a04440\u20134450, 2022. https:\/\/doi.org\/10.1109\/tmech.2022.3157041.","DOI":"10.1109\/TMECH.2022.3157041"},{"key":"2024032604135389374_j_auto-2023-0066_ref_017","doi-asserted-by":"crossref","unstructured":"E. Amanov, J. Granna, and J. Burgner-Kahrs, \u201cToward improving path following motion: hybrid continuum robot design,\u201d in 2017 IEEE International Conference on Robotics and Automation (ICRA), 2017, pp.\u00a04666\u20134672.","DOI":"10.1109\/ICRA.2017.7989542"},{"key":"2024032604135389374_j_auto-2023-0066_ref_018","doi-asserted-by":"crossref","unstructured":"E. Amanov, T.-D. Nguyen, and J. Burgner-Kahrs, \u201cTendon-driven continuum robots with extensible sections\u2014a model-based evaluation of path-following motions,\u201d Int. J. Robot. Res., vol.\u00a040, no.\u00a01, pp.\u00a07\u201323, 2021. https:\/\/doi.org\/10.1177\/0278364919886047.","DOI":"10.1177\/0278364919886047"},{"key":"2024032604135389374_j_auto-2023-0066_ref_019","doi-asserted-by":"crossref","unstructured":"M. Li, R. Kang, S. Geng, and E. Guglielmino, \u201cDesign and control of a tendon-driven continuum robot,\u201d Trans. Inst. Meas. 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