With the maturity of surgical robotic systems based on traditional rigid-link principles, the rate
of progress slowed as limits of size and controllable degrees of freedom were reached …

Treating vascular diseases in the brain requires access to the affected region inside the
body. This is usually accomplished through a minimally invasive technique that involves the …

Vascular interventional surgery (VIS) robots are capable of performing various operations
such as drug delivery, coil filling, balloon stent expansion, percutaneous catheter ablation …

There is an emerging trend toward soft robotics due to its extended manipulation capabilities
compared to traditionally rigid robot links, showing promise for an extended applicability to …

This paper explores a new hybrid actuation principle combining pneumatic and tendon-
driven actuators for a soft robotic manipulator. The fusion of these two actuation principles …

To address the challenges with real-time accurate modeling of multisegment continuum
manipulators in the presence of significant external and body loads, we introduce a novel …

This paper proposes a soft, inflatable manipulator that is antagonistically actuated by
tendons and pneumatics. The combination of the two actuation mechanisms in this …

Magnetic continuum manipulators (MCMs) are a class of continuum robots that can be
actuated without direct contact by an external magnetic field. MCMs operating in confined …

We present the design and development of a plant-inspired robot, named Plantoid, with
sensorized robotic roots. Natural roots have a multi-sensing capability and show a soft …

This work presents a novel soft actuator with a 3D-printed elastic body based on a fused-
deposition-modeling technique and with tendon actuation based on flexible shafts, which …