Publications

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2020

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, (Early Access), 2020.

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

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, 2020.

Abstract | Links | BibTeX | Tags: design, modeling, parallel continuum robot

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

2019

Comparison of Modeling Approaches for a Tendon Actuated Continuum Robot with Three Extensible Segments

Chikhaoui, Mohamed Taha; Lilge, Sven; Kleinschmidt, Simon; Burgner-Kahrs, Jessica

Comparison of Modeling Approaches for a Tendon Actuated Continuum Robot with Three Extensible Segments Journal Article

IEEE Robotics & Automation Letters, 4 (2), pp. 989 - 996, 2019.

Abstract | Links | BibTeX | Tags: continuum robot, extensible, modeling, tendon actuated

2018

Learning the Forward and Inverse Kinematics of a 6-DOF Concentric-Tube Continuum Robot in SE(3)

Grassmann, Reinhard; Modes, Vincent; Burgner-Kahrs, Jessica

Learning the Forward and Inverse Kinematics of a 6-DOF Concentric-Tube Continuum Robot in SE(3) Inproceedings

IEEE/RSJ International Conference on Intelligent Robots and Systems, pp. 5125-5132, 2018.

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

2015

Continuum Robots for Medical Applications - A Survey

Burgner-Kahrs, Jessica; Rucker, Caleb D; Choset, Howie

Continuum Robots for Medical Applications - A Survey Journal Article

IEEE Transactions on Robotics, 31 (6), pp. 1261-1280, 2015.

Abstract | Links | BibTeX | Tags: computational design, continuum robot, control, design, minimally-invasive surgery, modeling, motion planning, survey, trajectory planning