DGR Days (German Society of Robotics), pp. 20, 2017
A major advantage of concentric tube continuumrobots is their considerable small size. In contrast, the actuationunit is often several times the size of the manipulator itself,which requires a complex setup procedure every time therobot is moved. In order to enable handheld applications,i.e. inspection tasks, a reduction of the dimensions and fullintegration into a manageable device is required. In this paper,we present the general concept of a miniaturized, handheldconcentric tube continuum robot.