Concentric Tube Robots
This web page is a resource on the concentric tube robot tube sets and actuation units that have been proposed to date in the literature. It is kept up-to-date on a regular basis. …
Cédric Girerd
CNRS Researcher
I am a CNRS Researcher in Robotics. I work in the DEXTER Team in the Robotics Department at LIRMM in Montpellier, France. I obtained a PhD from Strasbourg University in 2018 in Robotics, and was a Postdoctoral Scholar at the University of California San Diego from 2019 to 2022. Since 2023, I am an Associate Editor for the IEEE RoboSoft Conference.
Wireless Sensors
Overview The ability to sense forces is a critical component for ensuring that robots can safely interact with their environment. Yet there are numerous situations, in particular …
ForceSticker: Wireless, Batteryless, Thin & Flexible Force Sensors
Any two objects in contact with each other exert a force that could be simply due to gravity or mechanical contact, such as any ubiquitous object exerting weight on a platform or …
Agrim gupta
Design and Fabrication of Concentric Tube Robots: A Survey
Concentric tube robots (CTRs) have drawn significant research attention over the years, particularly due to their applications in minimally invasive surgery (MIS). Indeed, their …
Chibundo nwafor
Modeling and Design of Soft, Positive-Pressure Actuated Suction Cups for Anchoring in Minimally Invasive Surgery
Soft suction cups have been proposed for many applications, including manipulating soft tissues and measuring mechanical properties of the skin. Models that can predict the …
Ayush giri
A 3-D Haptic Trackball Interface for Teleoperating Continuum Robots
Continuum robots offer many advantages for navigation in constrained environments, due to their flexible backbone and ability to conform to complex shapes. However, their …
Mufeng xie
A Generalized Framework for Concentric Tube Robot Design Using Gradient-Based Optimization
Concentric tube robots (CTRs) show particular promise for minimally invasive surgery due to their inherent compliance and ability to navigate in constrained environments. Due to …
Jui te lin
Design and Evaluation of a Miniaturized Force Sensor Based on Wave Backscattering
The ability to sense forces is a critical component for ensuring that robots can safely interact with their environment. Yet there are numerous situations, in particular for …
Daegue park
A Hybrid Concentric Tube Robot for Cholesteatoma Laser Surgery
This letter presents a hybrid concentric tube robot which covers the middle ear volume for exhaustive ablation of residual cholesteatoma. The proposed robotic system combines a …
Dang viet anh nguyen
Expanding the horizons of wireless sensing: Sensing and localizing contact forces with signal reflections
All interactions of objects, humans, and machines with the physical world are via contact forces. For instance, objects placed on a table exert their gravitational forces, and the …
Agrim gupta