Design of a Pneumatic Muscle Based Continuum Robot with Embedded Tendons
- Submitting institution
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King's College London
- Unit of assessment
- 11 - Computer Science and Informatics
- Output identifier
- 87466242
- Type
- D - Journal article
- DOI
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10.1109/TMECH.2016.2636199
- Title of journal
- IEEE ASME TRANSACTIONS ON MECHATRONICS
- Article number
- 7775004
- First page
- 751
- Volume
- 22
- Issue
- 2
- ISSN
- 1083-4435
- Open access status
- Compliant
- Month of publication
- December
- Year of publication
- 2016
- URL
-
-
- Supplementary information
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-
- Request cross-referral to
- -
- Output has been delayed by COVID-19
- No
- COVID-19 affected output statement
- -
- Forensic science
- No
- Criminology
- No
- Interdisciplinary
- No
- Number of additional authors
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4
- Research group(s)
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-
- Citation count
- 22
- Proposed double-weighted
- No
- Reserve for an output with double weighting
- No
- Additional information
- This paper presents a novel continuum robot with a three-degree of freedom parallel mechanism using a tendon to create a novel actuation system. The paper makes a breakthrough by using a hybrid actuation strategy that guarantees desired reachable workspace and expected movements as commented by Ouyang (T-Mech, 2018, 10.1109/TMECH.2018.2855129). The results are used by Chinese University Hong Kong for design of an interactive control system for a multi-section continuum robot and by Teesside University (Habibi, Journal Manufacture, 2018, 10.1016/j.jmapro.2018.02.013) in their fabrication process for optimal integration of pneumatic artificial muscles to characterize a novel reconfigurable moulding system.
- Author contribution statement
- -
- Non-English
- No
- English abstract
- -