With the development of the modern manufacturing industry, especially that of high-speed
and high-precision machining, higher performances of computer numerical control (CNC) …

Performance evaluation and inverse kinematics (IK) for continuum robots are always hard
and time-consuming. In this paper, an efficient dexterity evaluation algorithm based on IK (…

Non-linear friction in a conventional drive feed system (CDFS) feeding at low speed is one of
the main factors that lead to the complexity of the feed drive. The CDFS will inevitably enter …

Model-based control for continuum robots is often based on the piecewise constant curvature
(PCC) assumption. However, the actual physical motions of continuum robots deviate …

This article presents a robust finite-time command-filtered backstepping control strategy for
flexible-joint robotic systems with only position measurements. To the best of our knowledge, …

This article investigates the torque tracking problem of series elastic actuators (SEAs) that
are affected by nonlinear uncertainty and actuator saturation. An unknown system dynamics …

Ultrasonic motors (USMs) have been extensively investigated for a few decades, but it is still
required to improve their thrust force (or torque) density and/or power density for practical …

The continuum robot is a new type of bionic robot which is widely used in the medical field.
However, the current structure of the continuum robot limits its application in the field of …

To accomplish high carrying/positioning capability with compact structure, in this study, a
miniature self-moving ultrasonic actuator (MSMUA) is developed by exciting a flexural traveling …

Abstract Models of continuum robots often trade off accuracy and speed. The constant
curvature assumption model can perform fast calculations but with poor accuracy. Static models …