Publications

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2021

Using Euler Curves to Model Continuum Robots

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

Using Euler Curves to Model Continuum Robots Inproceedings

IEEE International Conference on Robotics and Automation (ICRA) - in press, 2021.

BibTeX | Tags: modeling, tendon-driven continuum robots

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

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, 6 (2), pp. 1272 - 1279, 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

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

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

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

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

2018

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; 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

Neumann, Maria; Burgner-Kahrs, Jessica

Considerations for follow-the-leader motion of extensible tendon-driven continuum robots Inproceedings

IEEE International Conference on Robotics and Automation, pp. 917–923, 2016, ISBN: 978-1-4673-8026-3.

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

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

METABot - Magnetic Extensible Tendon Actuated Continuum Robot Inproceedings

DGR Days (German Society of Robotics), 2016.

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

2015

A Tendon-Driven Continuum Robot with Extensible Sections

Nguyen, Thien-Dang; Burgner-Kahrs, Jessica

A Tendon-Driven Continuum Robot with Extensible Sections Inproceedings

IEEE/RSJ International Conference on Intelligent Robots and Systems, pp. 2130-2135, 2015.

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