A Sliding-Rod Variable-Strain Model for Concentric Tube Robots

In this work, the Piecewise Variable-strain (PVS) approach is applied to case of Concentric Tube Robots (CTRs) and extended include tubes' sliding motion. particular, currently accepted continuous Cosserat rod model discretized onto a finite set strain basis functions. At same time, insertion rotation motions tubes are included as generalized coordinates instead boundary kinematic conditions. Doing so, we obtain minimum closed-form algebraic equations that can be solved not only for shape variables but also actuation forces torques first time. This new opens way torque-controlled CTRs, which poised enhance elastic stability improve interaction forces' control at end-effector.