What are Continuum Robots?

They are biologically inspired and organic compliant structures. They differ fundamentally from traditional robots, which rely on a rigid joint-link composition. Their appearance is evocative of animals and organs such as trunks, tongues, worms, and snakes. Composed of flexible, elastic, or soft materials, continuum robots can perform complex bending motions and appear with curvilinear shapes. However, their softness and deformability raise major challenges, including the continuous recognition of the manipulator’s actual shape.

Research Purpose

The Continuum Robotics Laboratory at the University of Toronto aims to create innovative continuum robot designs with novel features. The aim of my research project was to implement calibration and computer-vision algorithms for an existing multi-camera system to capture the motion and sense the shape of tendon-driven continuum robots in neurosurgery. To test the continuum robots and validate my models, algorithms, and controllers, I performed experiments on the bench-top and observed the robot's performance using different sensors.

State-of-the-art Proposal

Research Paper