Publications

Show all

25 entries « 1 of 2 »

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

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

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, 40 (1), pp. 7-23, 2021.

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

2020

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

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

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

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

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

Control of Continuum Robots for Medical Applications: State of the Art

Chikhaoui, Mohamed Taha; Burgner-Kahrs, Jessica

Control of Continuum Robots for Medical Applications: State of the Art Inproceedings

International Conference and Exhibition on New Actuators and Drive Systems, pp. 154-164, VDE VERLAG GMBH, 2018.

Links | BibTeX | Tags: continuum robot, control, minimally-invasive surgery, Surgery

Stiffening Sheaths for Continuum Robots

Langer, Marlene; Amanov, Ernar; Burgner-Kahrs, Jessica

Stiffening Sheaths for Continuum Robots Journal Article

Soft Robotics, 5 (3), pp. 291-303, 2018.

Abstract | Links | BibTeX | Tags: continuum robot, design, granular jamming, layer jamming, soft robot, stiffening

Toward a Flexible Variable Stiffness Endoport for Single-Site Partial Nephrectomy

Amanov, Ernar; Nguyen, Thien-Dang; Markmann, Steffen; Imkamp, Florian; Burgner-Kahrs, Jessica

Toward a Flexible Variable Stiffness Endoport for Single-Site Partial Nephrectomy Journal Article

Annals of Biomedical Engineering, 46 (10), pp. 1498-1510, 2018.

Abstract | Links | BibTeX | Tags: continuum robot, design, layer jamming, minimally-invasive surgery, soft robot, tendon actuated, tendon-driven continuum robots

2017

On the Merits of Helical Tendon Routing in Continuum Robots

Starke, Julia; Amanov, Ernar; Chikhaoui, Mohamed Taha; Burgner-Kahrs, Jessica

On the Merits of Helical Tendon Routing in Continuum Robots Inproceedings

IEEE International Conference on Robotics and Automation, pp. 6470–6476, 2017.

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

Amanov, E; Granna, J; Burgner-Kahrs, J

Toward Improving Path Following Motion: Hybrid Continuum Robot Design Inproceedings

IEEE International Conference on Robotics and Automation, pp. 4666-4672, 2017.

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

Modes, V; Nguyen, Thien-Dang; Burgner-Kahrs, J

Towards Handheld Continuum Robots Inproceedings

DGR Days (German Society of Robotics), pp. 20, 2017.

BibTeX | Tags: continuum robot, design

Burgner-Kahrs, J

How Can the Characteristics of Continuum Robots Be Optimized for a Specific Medical Application? Journal Article

Latest Thinking, 2017, ISSN: 25105183.

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

Amanov, E; Nguyen, Thien-Dang; Imkamp, Florian; Burgner-Kahrs, J

First Results on a Flexible Variable Stiffness Endoport for Single-Site Partial Nephrectomy Inproceedings

The Hamlyn Symposium on Medical Robotics, pp. 91–92, 2017.

BibTeX | Tags: continuum robot, design, minimally-invasive surgery, Surgery, tendon actuated, tendon-driven continuum robots

2016

Amanov, Ernar; Imkamp, Florian; Burgner-Kahrs, Jessica

Initial Investigations toward a Flexible Variable Stiffness Single Port System for Partial Nephrectomy Inproceedings

Jahrestagung der Deutschen Gesellschaft für Computer- und Roboterassistierte Chirurgie e.V., pp. 93–98, 2016.

BibTeX | Tags: continuum robot, minimally-invasive surgery, stiffening, tendon-driven continuum robots

25 entries « 1 of 2 »