{"id":"https://openalex.org/W7124419069","doi":"https://doi.org/10.1109/lra.2026.3655213","title":"A Continuum Robot With Programmable Tendon Routing for Desired Curve Generation","display_name":"A Continuum Robot With Programmable Tendon Routing for Desired Curve Generation","publication_year":2026,"publication_date":"2026-01-16","ids":{"openalex":"https://openalex.org/W7124419069","doi":"https://doi.org/10.1109/lra.2026.3655213"},"language":null,"primary_location":{"id":"doi:10.1109/lra.2026.3655213","is_oa":false,"landing_page_url":"https://doi.org/10.1109/lra.2026.3655213","pdf_url":null,"source":{"id":"https://openalex.org/S4210169774","display_name":"IEEE Robotics and Automation Letters","issn_l":"2377-3766","issn":["2377-3766"],"is_oa":false,"is_in_doaj":false,"is_core":true,"host_organization":"https://openalex.org/P4310319808","host_organization_name":"Institute of Electrical and Electronics Engineers","host_organization_lineage":["https://openalex.org/P4310319808"],"host_organization_lineage_names":["Institute of Electrical and Electronics Engineers"],"type":"journal"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"IEEE Robotics and Automation Letters","raw_type":"journal-article"},"type":"article","indexed_in":["crossref"],"open_access":{"is_oa":false,"oa_status":"closed","oa_url":null,"any_repository_has_fulltext":false},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5103372784","display_name":"K. Y. Zhou","orcid":null},"institutions":[{"id":"https://openalex.org/I4387154005","display_name":"State Key Laboratory of Digital Medical Engineering","ror":"https://ror.org/03ab0at74","country_code":null,"type":"facility","lineage":["https://openalex.org/I4387154005","https://openalex.org/I76569877"]},{"id":"https://openalex.org/I76569877","display_name":"Southeast University","ror":"https://ror.org/04ct4d772","country_code":"CN","type":"education","lineage":["https://openalex.org/I76569877"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Kehong Zhou","raw_affiliation_strings":["State Key Laboratory of Digital Medical Engineering, Jiangsu Key Lab of Remote Measurement and Control, School of Instrument Science and Engineering, Southeast University, Nanjing, China"],"raw_orcid":"https://orcid.org/0000-0002-9600-174X","affiliations":[{"raw_affiliation_string":"State Key Laboratory of Digital Medical Engineering, Jiangsu Key Lab of Remote Measurement and Control, School of Instrument Science and Engineering, Southeast University, Nanjing, China","institution_ids":["https://openalex.org/I76569877","https://openalex.org/I4387154005"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5123204202","display_name":"Lifeng Zhu","orcid":null},"institutions":[{"id":"https://openalex.org/I4387154005","display_name":"State Key Laboratory of Digital Medical Engineering","ror":"https://ror.org/03ab0at74","country_code":null,"type":"facility","lineage":["https://openalex.org/I4387154005","https://openalex.org/I76569877"]},{"id":"https://openalex.org/I76569877","display_name":"Southeast University","ror":"https://ror.org/04ct4d772","country_code":"CN","type":"education","lineage":["https://openalex.org/I76569877"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Lifeng Zhu","raw_affiliation_strings":["State Key Laboratory of Digital Medical Engineering, Jiangsu Key Lab of Remote Measurement and Control, School of Instrument Science and Engineering, Southeast University, Nanjing, China"],"raw_orcid":"https://orcid.org/0000-0002-9999-4513","affiliations":[{"raw_affiliation_string":"State Key Laboratory of Digital Medical Engineering, Jiangsu Key Lab of Remote Measurement and Control, School of Instrument Science and Engineering, Southeast University, Nanjing, China","institution_ids":["https://openalex.org/I76569877","https://openalex.org/I4387154005"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5123184201","display_name":"Jinfeng Wu","orcid":null},"institutions":[{"id":"https://openalex.org/I4387154005","display_name":"State Key Laboratory of Digital Medical Engineering","ror":"https://ror.org/03ab0at74","country_code":null,"type":"facility","lineage":["https://openalex.org/I4387154005","https://openalex.org/I76569877"]},{"id":"https://openalex.org/I76569877","display_name":"Southeast University","ror":"https://ror.org/04ct4d772","country_code":"CN","type":"education","lineage":["https://openalex.org/I76569877"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Jinfeng Wu","raw_affiliation_strings":["State Key Laboratory of Digital Medical Engineering, Jiangsu Key Lab of Remote Measurement and Control, School of Instrument Science and Engineering, Southeast University, Nanjing, China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"State Key Laboratory of Digital Medical Engineering, Jiangsu Key Lab of Remote Measurement and Control, School of Instrument Science and Engineering, Southeast University, Nanjing, China","institution_ids":["https://openalex.org/I76569877","https://openalex.org/I4387154005"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5005080236","display_name":"Yue Wen","orcid":null},"institutions":[{"id":"https://openalex.org/I4210090971","display_name":"Southeast University","ror":"https://ror.org/00cf0ab87","country_code":"BD","type":"education","lineage":["https://openalex.org/I4210090971"]},{"id":"https://openalex.org/I76569877","display_name":"Southeast University","ror":"https://ror.org/04ct4d772","country_code":"CN","type":"education","lineage":["https://openalex.org/I76569877"]}],"countries":["BD","CN"],"is_corresponding":false,"raw_author_name":"Yurui Wen","raw_affiliation_strings":["Future Technology Institute, Southeast University, Nanjing, China"],"raw_orcid":"https://orcid.org/0009-0007-9725-6676","affiliations":[{"raw_affiliation_string":"Future Technology Institute, Southeast University, Nanjing, China","institution_ids":["https://openalex.org/I76569877","https://openalex.org/I4210090971"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5123185039","display_name":"Aiguo Song","orcid":null},"institutions":[{"id":"https://openalex.org/I4387154005","display_name":"State Key Laboratory of Digital Medical Engineering","ror":"https://ror.org/03ab0at74","country_code":null,"type":"facility","lineage":["https://openalex.org/I4387154005","https://openalex.org/I76569877"]},{"id":"https://openalex.org/I76569877","display_name":"Southeast University","ror":"https://ror.org/04ct4d772","country_code":"CN","type":"education","lineage":["https://openalex.org/I76569877"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Aiguo Song","raw_affiliation_strings":["State Key Laboratory of Digital Medical Engineering, Jiangsu Key Lab of Remote Measurement and Control, School of Instrument Science and Engineering, Southeast University, Nanjing, China"],"raw_orcid":"https://orcid.org/0000-0002-1982-6780","affiliations":[{"raw_affiliation_string":"State Key Laboratory of Digital Medical Engineering, Jiangsu Key Lab of Remote Measurement and Control, School of Instrument Science and Engineering, Southeast University, Nanjing, China","institution_ids":["https://openalex.org/I76569877","https://openalex.org/I4387154005"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5100402810","display_name":"Yongjie Zhang","orcid":"https://orcid.org/0000-0001-7436-9757"},"institutions":[{"id":"https://openalex.org/I74973139","display_name":"Carnegie Mellon University","ror":"https://ror.org/05x2bcf33","country_code":"US","type":"education","lineage":["https://openalex.org/I74973139"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Yongjie Jessica Zhang","raw_affiliation_strings":["Computational Bio-modeling Laboratory, Department of Mechanical Engineering, Carnegie Mellon University, Pittsburgh, PA, USA"],"raw_orcid":"https://orcid.org/0000-0001-7436-9757","affiliations":[{"raw_affiliation_string":"Computational Bio-modeling Laboratory, Department of Mechanical Engineering, Carnegie Mellon University, Pittsburgh, PA, USA","institution_ids":["https://openalex.org/I74973139"]}]}],"institutions":[],"countries_distinct_count":3,"institutions_distinct_count":4,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":0.0,"has_fulltext":false,"cited_by_count":0,"citation_normalized_percentile":{"value":0.04557669,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":null,"biblio":{"volume":"11","issue":"3","first_page":"3286","last_page":"3293"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10868","display_name":"Soft Robotics and Applications","score":0.9961000084877014,"subfield":{"id":"https://openalex.org/subfields/2204","display_name":"Biomedical Engineering"},"field":{"id":"https://openalex.org/fields/22","display_name":"Engineering"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},"topics":[{"id":"https://openalex.org/T10868","display_name":"Soft Robotics and Applications","score":0.9961000084877014,"subfield":{"id":"https://openalex.org/subfields/2204","display_name":"Biomedical Engineering"},"field":{"id":"https://openalex.org/fields/22","display_name":"Engineering"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},{"id":"https://openalex.org/T10571","display_name":"Robotic Mechanisms and Dynamics","score":0.0010000000474974513,"subfield":{"id":"https://openalex.org/subfields/2207","display_name":"Control and Systems Engineering"},"field":{"id":"https://openalex.org/fields/22","display_name":"Engineering"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},{"id":"https://openalex.org/T11023","display_name":"Prosthetics and Rehabilitation Robotics","score":0.00039999998989515007,"subfield":{"id":"https://openalex.org/subfields/2204","display_name":"Biomedical Engineering"},"field":{"id":"https://openalex.org/fields/22","display_name":"Engineering"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}}],"keywords":[{"id":"https://openalex.org/keywords/modular-design","display_name":"Modular design","score":0.7372000217437744},{"id":"https://openalex.org/keywords/workspace","display_name":"Workspace","score":0.6786999702453613},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.6651999950408936},{"id":"https://openalex.org/keywords/curvature","display_name":"Curvature","score":0.5210000276565552},{"id":"https://openalex.org/keywords/adaptability","display_name":"Adaptability","score":0.46560001373291016},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.4462999999523163},{"id":"https://openalex.org/keywords/kinematics","display_name":"Kinematics","score":0.3978999853134155},{"id":"https://openalex.org/keywords/deflection","display_name":"Deflection (physics)","score":0.397599995136261}],"concepts":[{"id":"https://openalex.org/C101468663","wikidata":"https://www.wikidata.org/wiki/Q1620158","display_name":"Modular design","level":2,"score":0.7372000217437744},{"id":"https://openalex.org/C58581272","wikidata":"https://www.wikidata.org/wiki/Q12741163","display_name":"Workspace","level":3,"score":0.6786999702453613},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.6651999950408936},{"id":"https://openalex.org/C195065555","wikidata":"https://www.wikidata.org/wiki/Q214881","display_name":"Curvature","level":2,"score":0.5210000276565552},{"id":"https://openalex.org/C177606310","wikidata":"https://www.wikidata.org/wiki/Q5674297","display_name":"Adaptability","level":2,"score":0.46560001373291016},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.4490000009536743},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.4462999999523163},{"id":"https://openalex.org/C44154836","wikidata":"https://www.wikidata.org/wiki/Q45045","display_name":"Simulation","level":1,"score":0.4104999899864197},{"id":"https://openalex.org/C39920418","wikidata":"https://www.wikidata.org/wiki/Q11476","display_name":"Kinematics","level":2,"score":0.3978999853134155},{"id":"https://openalex.org/C2781355719","wikidata":"https://www.wikidata.org/wiki/Q2080698","display_name":"Deflection (physics)","level":2,"score":0.397599995136261},{"id":"https://openalex.org/C133731056","wikidata":"https://www.wikidata.org/wiki/Q4917288","display_name":"Control engineering","level":1,"score":0.3702999949455261},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.35269999504089355},{"id":"https://openalex.org/C74222875","wikidata":"https://www.wikidata.org/wiki/Q16000312","display_name":"Robot kinematics","level":4,"score":0.34389999508857727},{"id":"https://openalex.org/C34413123","wikidata":"https://www.wikidata.org/wiki/Q170978","display_name":"Robotics","level":3,"score":0.328900009393692},{"id":"https://openalex.org/C144171764","wikidata":"https://www.wikidata.org/wiki/Q48103","display_name":"Torque","level":2,"score":0.30820000171661377},{"id":"https://openalex.org/C17500928","wikidata":"https://www.wikidata.org/wiki/Q959968","display_name":"Control system","level":2,"score":0.2992999851703644},{"id":"https://openalex.org/C184720557","wikidata":"https://www.wikidata.org/wiki/Q7825049","display_name":"Topology (electrical circuits)","level":2,"score":0.29820001125335693},{"id":"https://openalex.org/C60692881","wikidata":"https://www.wikidata.org/wiki/Q584529","display_name":"Humanoid robot","level":3,"score":0.2921999990940094},{"id":"https://openalex.org/C171912257","wikidata":"https://www.wikidata.org/wiki/Q11019","display_name":"Mechanical system","level":2,"score":0.2888000011444092},{"id":"https://openalex.org/C2991746120","wikidata":"https://www.wikidata.org/wiki/Q210028","display_name":"Deflection angle","level":2,"score":0.2630000114440918},{"id":"https://openalex.org/C31352089","wikidata":"https://www.wikidata.org/wiki/Q3750474","display_name":"Systems design","level":2,"score":0.2551000118255615}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/lra.2026.3655213","is_oa":false,"landing_page_url":"https://doi.org/10.1109/lra.2026.3655213","pdf_url":null,"source":{"id":"https://openalex.org/S4210169774","display_name":"IEEE Robotics and Automation Letters","issn_l":"2377-3766","issn":["2377-3766"],"is_oa":false,"is_in_doaj":false,"is_core":true,"host_organization":"https://openalex.org/P4310319808","host_organization_name":"Institute of Electrical and Electronics Engineers","host_organization_lineage":["https://openalex.org/P4310319808"],"host_organization_lineage_names":["Institute of Electrical and Electronics Engineers"],"type":"journal"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"IEEE Robotics and Automation Letters","raw_type":"journal-article"}],"best_oa_location":null,"sustainable_development_goals":[],"awards":[{"id":"https://openalex.org/G3601535823","display_name":null,"funder_award_id":"BK20232008","funder_id":"https://openalex.org/F4320322769","funder_display_name":"Natural Science Foundation of Jiangsu Province"},{"id":"https://openalex.org/G5035179432","display_name":null,"funder_award_id":"62133009","funder_id":"https://openalex.org/F4320321001","funder_display_name":"National Natural Science Foundation of China"}],"funders":[{"id":"https://openalex.org/F4320321001","display_name":"National Natural Science Foundation of China","ror":"https://ror.org/01h0zpd94"},{"id":"https://openalex.org/F4320322769","display_name":"Natural Science Foundation of Jiangsu Province","ror":"https://ror.org/01h0zpd94"},{"id":"https://openalex.org/F4320335787","display_name":"Fundamental Research Funds for the Central Universities","ror":null}],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":30,"referenced_works":["https://openalex.org/W2053614949","https://openalex.org/W2184993170","https://openalex.org/W2213566593","https://openalex.org/W2765596765","https://openalex.org/W2775054021","https://openalex.org/W2790766491","https://openalex.org/W2971278234","https://openalex.org/W3006361381","https://openalex.org/W3007201711","https://openalex.org/W3008974801","https://openalex.org/W3085778762","https://openalex.org/W3095702864","https://openalex.org/W3098457568","https://openalex.org/W3132572563","https://openalex.org/W3135927915","https://openalex.org/W3187004032","https://openalex.org/W4205380791","https://openalex.org/W4210592808","https://openalex.org/W4220906970","https://openalex.org/W4315619123","https://openalex.org/W4317796345","https://openalex.org/W4318955562","https://openalex.org/W4321749658","https://openalex.org/W4360770879","https://openalex.org/W4377157882","https://openalex.org/W4379622502","https://openalex.org/W4387949278","https://openalex.org/W4396542545","https://openalex.org/W4405107707","https://openalex.org/W4409736007"],"related_works":[],"abstract_inverted_index":{"Continuum":[0],"robots":[1],"are":[2],"widely":[3],"employed":[4],"in":[5,33],"confined":[6],"environments":[7],"with":[8,18,36,78],"narrow":[9],"passages":[10],"and":[11,67,93,113,127,174],"spatial":[12,76],"constraints.":[13],"However,":[14],"achieving":[15,170],"general":[16],"curves":[17,77],"non-constant":[19,79],"curvature":[20],"remains":[21,130],"challenging,":[22],"as":[23],"existing":[24],"systems":[25,39],"typically":[26],"rely":[27],"on":[28],"multiple":[29],"flexible":[30],"segments":[31],"arranged":[32],"series,":[34],"coupled":[35],"complex":[37,171],"drive":[38,70,176],"requiring":[40],"numerous":[41],"actuators.":[42],"This":[43,153],"paper":[44],"proposes":[45],"a":[46,53,68,102,140,156],"novel":[47],"continuum":[48,110,161],"robot":[49,162],"design":[50,105,119,163],"that":[51],"features":[52],"programmable":[54],"tendon":[55],"routing":[56],"capable":[57],"of":[58,75,86,144],"generating":[59],"desired":[60,128,151],"curves.":[61],"The":[62,121],"system":[63,100,177],"integrates":[64],"modular":[65,87],"joints":[66,88],"single-actuator":[69],"unit,":[71],"enabling":[72],"the":[73,84,99,117,137,150],"generation":[74,173],"curvature.":[80],"By":[81],"strategically":[82],"designing":[83],"arrangement":[85],"to":[89,108,159],"control":[90],"rotational":[91],"direction":[92],"angular":[94],"deflection":[95],"at":[96],"each":[97],"joint,":[98],"achieves":[101],"substantially":[103],"expanded":[104],"workspace":[106],"compared":[107],"conventional":[109],"robots.":[111],"Simulation":[112],"prototype":[114,138],"experiments":[115],"validate":[116],"proposed":[118],"methodology.":[120],"relative":[122,141],"mean":[123,142],"distance":[124,143],"between":[125],"simulated":[126],"curve":[129,172],"below":[131],"3.12<inline-formula":[132],"xmlns:mml=\"http://www.w3.org/1998/Math/MathML\"":[133,146],"xmlns:xlink=\"http://www.w3.org/1999/xlink\"><tex-math":[134,147],"notation=\"LaTeX\">$\\%$</tex-math></inline-formula>,":[135],"while":[136,168],"demonstrates":[139],"6.67<inline-formula":[145],"notation=\"LaTeX\">$\\%$</tex-math></inline-formula>":[148],"from":[149],"curve.":[152],"approach":[154],"offers":[155],"promising":[157],"pathway":[158],"advance":[160],"by":[164],"improving":[165],"configurational":[166],"adaptability":[167],"simultaneously":[169],"reduced":[175],"complexity.":[178]},"counts_by_year":[],"updated_date":"2026-03-27T05:58:40.876381","created_date":"2026-01-17T00:00:00"}