Research
What is a continuum robot?
Continuum robots are flexible robots that contain an elastic structure named 'backbone', which are actuated by various means like pneumatics, shape-memory alloys, pre-curved beams, cables, etc. These robots are highly flexible and compliant because of which they find use in many fields such as medical devices, search and rescue, space applications, biomimetics, etc.
What is a Cable-driven continuum robots (CCR)?
A cable-driven continuum robot consists of a slender rod-like structure as a backbone. Discs with holes are attached to this backbone. Cables are routed through these holes from the base to the tip. When these cables are actuated, they bend the CCR. Many such poses of CCR can be obtained by choosing appropriate cable routing. Figure 1 shows an actuated CCR with cable routed helically from the base to the tip.
Figure 1. Schematics of an actuated CCR