Influence of Antagonistic Tensions on Distributed Friction Forces of Multisegment Tendon-Driven Continuum Manipulators With Irregular Geometry
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In this paper, we thoroughly analyze the effect of single-tendon and antagonistic tendons actuation on tension loss of multi-segment tendon-driven continuum manipulators (TD-CMs) with irregular geometry. To this end, we propose a generic analytical modeling ap... ...
