Background Recent advancements in continuum robotics have accentuated developing
efficient and stable controllers to handle shape deformation and compliance. The control of …

Combining laser technology with robotic precision and accuracy promises to introduce
significant advances in minimally invasive surgical interventions. Lasers have already …

In this paper, sliding mode tracking control and its chattering suppression method are
investigated for flexible-joint robot manipulators with only state measurements of joint …

A cable-driven soft robot with redundancy can perform the tip trajectory tracking task and in
the meanwhile fulfill some extra constraints, such as tracking with a designated tip …

This article studies the visual servoing and vibration suppression of flexible manipulators
using a fixed camera with uncalibrated intrinsic parameters. The dynamic equations of the …

A miniaturized endoscopic laser system with laser steering has great potential to expand the
application of minimally invasive laser treatment for micro-lesions inside narrow organs. The …

This paper presents the design and implementation of a flexible manipulator formed of
connected continuum kinematic modules (CKMs) to ease the fabrication of a continuum …

Endoscopic cameras attached to miniaturized snake-like continuum robotic arms can
improve dexterity, accessibility, and visibility in minimally invasive surgical tasks. This …

This article studies the visual servoing and vibration suppression control for flexible
manipulators when the system states are unmeasurable and only the image feedback is …

The hyper redundancy and flexibility of continuum robots have made them attractive to
replace conventional rigid-link robots in many applications. Although the robot body can be …