Publications

131 entries « 1 of 7 »

2021

Design of Lightweight and Extensible Tendon-Driven Continuum Robots using Origami Patterns

Xu, Yunti; Peyron, Quentin; Kim, Jongwoo; Burgner-Kahrs, Jessica

Design of Lightweight and Extensible Tendon-Driven Continuum Robots using Origami Patterns Inproceedings

4th IEEE International Conference on Soft Robotics (RoboSoft) Accepted, 2021.

BibTeX | Tags: continuum robot, design, extensible, follow-the-leader, origami, tendon-driven continuum robots

Shape Sensing Based on Longitudinal Strain Measurements Considering Elongation, Bending and Twisting

Modes, Vincent; Ortmaier, Tobias; Burgner-Kahrs, Jessica

Shape Sensing Based on Longitudinal Strain Measurements Considering Elongation, Bending and Twisting Journal Article

IEEE Sensors Journal, 21 (5), pp. 6712-6723, 2021.

Abstract | Links | BibTeX | Tags: continuum robot, modeling, shape sensing

Design of a Reconfigurable Parallel Continuum Robot with Tendon-Actuated Kinematic Chains

Böttcher, Georg; Lilge, Sven; Burgner-Kahrs, Jessica

Design of a Reconfigurable Parallel Continuum Robot with Tendon-Actuated Kinematic Chains Journal Article

IEEE Robotics and Automation Letters, 2021.

Abstract | Links | BibTeX | Tags: collaborating continuum robots, design, parallel continuum robot, tendon-driven continuum robots

How to Model Tendon-Driven Continuum Robots and Benchmark Modelling Performance

Rao, Priyanka; Peyron, Quentin; Lilge, Sven; Burgner-Kahrs, Jessica

How to Model Tendon-Driven Continuum Robots and Benchmark Modelling Performance Journal Article

Frontiers in Robotics and AI, 7 (630245), pp. 20, 2021.

Abstract | Links | BibTeX | Tags: continuum robot, modeling, tendon actuated, tendon-driven continuum robots

2020

Tendon Actuated Continuous Structures in Planar Parallel Robots: A Kinematic Analysis

Lilge, Sven; Nuelle, Kathrin; Böttcher, Georg; Spindeldreier, Svenja; Burgner-Kahrs, Jessica

Tendon Actuated Continuous Structures in Planar Parallel Robots: A Kinematic Analysis Journal Article

ASME Journal of Mechanisms and Robotics, 13 (1), pp. 011025 (11 pages), 2020.

Abstract | Links | BibTeX | Tags: design, modeling, parallel continuum robot, tendon actuated, tendon-driven continuum robots

Estimating Tip Contact Forces for Concentric Tube Continuum Robots based on Backbone Deflection

Donat, Heiko; Lilge, Sven; Burgner-Kahrs, Jessica; Steil, Jochen J

Estimating Tip Contact Forces for Concentric Tube Continuum Robots based on Backbone Deflection Journal Article

IEEE Transactions on Medical Robotics and Bionics , 2 (4), pp. 619-630, 2020.

Abstract | Links | BibTeX | Tags: concentric tube continuum robot, machine learning, sensing

Modeling, Calibration, and Evaluation of a Planar Parallel Continuum Robot based on Tendon Actuation

Nuelle, Kathrin; Sterneck, Tim; Lilge, Sven; Xiong, Dhezu; Burgner-Kahrs, Jessica; Ortmaier, Tobias

Modeling, Calibration, and Evaluation of a Planar Parallel Continuum Robot based on Tendon Actuation Journal Article

IEEE Robotics & Automation Letter, 5 (4), pp. 5811 - 5818, 2020.

Abstract | Links | BibTeX | Tags: calibration, control, design, modeling, parallel continuum robot, tendon actuated, tendon-driven continuum robots

CTCR Prototype Development: An Obstacle in the Research Community?

Grassmann, Reinhard; Lilge, Sven; Le, Phuong; Burgner-Kahrs, Jessica

CTCR Prototype Development: An Obstacle in the Research Community? Inproceedings

RSS 2020 Workshop RobRetro, 2020.

Links | BibTeX | Tags: concentric tube continuum robot, retrospective

Calibration of Concentric Tube Continuum Robots: Automatic Alignment of Precurved Elastic Tubes

Modes, Vincent; Burgner-Kahrs, Jessica

Calibration of Concentric Tube Continuum Robots: Automatic Alignment of Precurved Elastic Tubes Journal Article

IEEE Robotics and Automation Letters, 5 (1), pp. 103–110, 2020.

Links | BibTeX | Tags: Accuracy, calibration, concentric tube continuum robot, continuum robot

2019

Tendon-driven Continuum Robots with Extensible Sections - A Model-based Evaluation of Path Following Motions

Amanov, E; Nguyen, T -D; Burgner-Kahrs, J

Tendon-driven Continuum Robots with Extensible Sections - A Model-based Evaluation of Path Following Motions Journal Article

International Journal of Robotics Research, Online First , 2019.

Abstract | Links | BibTeX | Tags: Accuracy, continuum robot, design, extensible, follow-the-leader, tendon actuated, tendon-driven continuum robots

Designing a robotic port system for laparo-endoscopic single-site surgery

Amanov, Ernar

Designing a robotic port system for laparo-endoscopic single-site surgery PhD Thesis

Leibniz University Hannover, 2019.

Abstract | Links | BibTeX | Tags: continuum robot, design, medical robotics, minimally-invasive surgery, soft robot, stiffening, tendon actuated, tendon-driven continuum robots

Multi-Objective Particle Swarm Optimization for the Structural Design of Concentric Tube Continuum Robots for Medical Applications

Granna, Josephine

Multi-Objective Particle Swarm Optimization for the Structural Design of Concentric Tube Continuum Robots for Medical Applications PhD Thesis

Leibniz University Hannover, 2019.

Abstract | Links | BibTeX | Tags: computational design, concentric tube continuum robot, minimally-invasive surgery, trajectory planning

Smooth Orientation Trajectory Generator Respecting Kinematic Limits

Grassmann, Reinhard; Burgner-Kahrs, Jessica

Smooth Orientation Trajectory Generator Respecting Kinematic Limits Inproceedings

IEEE-RAS International Conference on Humanoid Robots, 2019.

BibTeX | Tags: continuum robot, quaternion, Robotics, trajectory planning

Quaternion-Based Smooth Trajectory Generator for Via Poses in SE(3) Considering Kinematic Limits in Cartesian Space

Grassmann, Reinhard M; Burgner-Kahrs, Jessica

Quaternion-Based Smooth Trajectory Generator for Via Poses in SE(3) Considering Kinematic Limits in Cartesian Space Journal Article

IEEE Robotics and Automation Letters, 4 (4), pp. 4192–4199, 2019.

Links | BibTeX | Tags: continuum robot, quaternion, Robotics

On the Merits of Joint Space and Orientation Representations in Learning the Forward Kinematics in SE(3)

Grassmann, Reinhard; Burgner-Kahrs, Jessica

On the Merits of Joint Space and Orientation Representations in Learning the Forward Kinematics in SE(3) Inproceedings

Robotics: Science and Systems Conference, 10 pages, 2019.

Links | BibTeX | Tags: concentric tube continuum robot, continuum robot, machine learning, Robotics

Towards Learning Force Sensing for a Concentric Tube Continuum Robot

Donat, Heiko; Lilge, Sven; Steil, Jochen; Burgner-Kahrs, Jessica

Towards Learning Force Sensing for a Concentric Tube Continuum Robot Inproceedings

Workshop on Open Challenges and State-of-the-Art in Control System Design and Technology Development for Surgical Robotic Systems, IEEE International Conference on Robotics and Automation, 2019.

BibTeX | Tags: concentric tube continuum robot, machine learning

Adjustment Device for Joint Level Calibration of Continuum Robots

Grassmann, Reinhard M; Burgner-Kahrs, Jessica

Adjustment Device for Joint Level Calibration of Continuum Robots Inproceedings

Workshop on Opportunities and Challenges of Soft Robotics across Different Length Scales, IEEE International Conference on Robotics and Automation, 2019.

BibTeX | Tags: Accuracy, calibration, continuum robot

Controlling Concentric Tube Robots while Enforcing Shape Constraints

Lilge, Sven; Burgner-Kahrs, Jessica

Controlling Concentric Tube Robots while Enforcing Shape Constraints Inproceedings

Workshop on Open Challenges and State-of-the-Art in Control System Design and Technology Development for Surgical Robotic Systems, IEEE International Conference on Robotics and Automation, 2019.

BibTeX | Tags: concentric tube continuum robot, shape constraint

Auditory Display for Telerobotic Transnasal Surgery Using a Continuum Robot

Black, David; Lilge, Sven; Fellmann, Carolin; Reinschluessel, Anke V; Kreuer, Lars; Nabavi, Arya; Hahn, Horst K; Kikinis, Ron; Burgner-Kahrs, Jessica

Auditory Display for Telerobotic Transnasal Surgery Using a Continuum Robot Journal Article

Journal of Medical Robotics Research, 4 (2), pp. 1950004, 2019.

Abstract | Links | BibTeX | Tags: concentric tube continuum robot, hri, teleoperation

Computer-assisted planning for a concentric tube robotic system in neurosurgery

Granna, Josephine; Nabavi, Arya; Burgner-Kahrs, Jessica

Computer-assisted planning for a concentric tube robotic system in neurosurgery Journal Article

International Journal of Computer Assisted Radiology and Surgery, 14 (2), pp. 335–344, 2019.

Abstract | Links | BibTeX | Tags: computational design, concentric tube continuum robot, minimally-invasive surgery, planning, Surgery

131 entries « 1 of 7 »