Our paper on joint-level calibration of concentric tube robots is was accepted as a letter appearing in IEEE Robotics & Automation Letters.
It features a general framework for aligning the tubes of a concentric tube continuum robot independent of sensor technology. Our evaluation using magnetic, inductive, or electromagnetic sensing proves that the rotational home position can be found reproducibly with a minimal dispersion of 0.011°. This is particularly important for applications which require high accuracy.
This work was mainly carried out by Vincent Modes, a doctoral research assistant at our parent Laboratory for Continuum Robotic back in Hannover, Germany. Vincent is continuing his research at the Institute of Mechatronics Systems at Leibniz University Hannover, still advised by Jessica.