A continuum robot is a type of robot that is characterised by infinite degrees of freedom and number of joints.[citation needed] These characteristics allow continuum manipulators to adjust and modify their shape at any point along their length, granting them the possibility to work in confined spaces and complex environments where standard rigid-link robots cannot operate.[1] In particular, we can define a continuum robot as an actuatable structure whose constitutive material forms curves with continuous tangent vectors.[2] This is a fundamental definition that allows to distinguish between continuum robots and snake-arm robots or hyper-redundant manipulators: the presence of rigid links and joints allows them to only approximately perform curves with continuous tangent vectors.
The design of continuum robots is bioinspired, as the intent is to resemble biological trunks, snakes and tentacles. Several concepts of continuum robots have been commercialised and can be found in many different domains of application, ranging from the medical field to undersea exploration.[citation needed]
^da Veiga, Tomas; Chandler, James H; Lloyd, Peter; Pittiglio, Giovanni; Wilkinson, Nathan J; Hoshiar, Ali K; Harris, Russell A; Valdastri, Pietro (2020-08-03). "Challenges of continuum robots in clinical context: a review". Progress in Biomedical Engineering. 2 (3): 032003. doi:10.1088/2516-1091/ab9f41. ISSN 2516-1091. S2CID 225400772.
^Burgner-Kahrs, Jessica; Rucker, D. Caleb; Choset, Howie (December 2015). "Continuum Robots for Medical Applications: A Survey". IEEE Transactions on Robotics. 31 (6): 1261–1280. doi:10.1109/TRO.2015.2489500. ISSN 1552-3098. S2CID 9660483.
A continuumrobot is a type of robot that is characterised by infinite degrees of freedom and number of joints.[citation needed] These characteristics...
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