{"ID":2848830,"CreatedAt":"2026-06-01T04:54:23.091178241Z","UpdatedAt":"2026-06-01T04:54:23.091178241Z","DeletedAt":null,"paper_url":"https://arxiv.org/abs/2510.23954","arxiv_id":"2510.23954","title":"A Comprehensive General Model of Tendon-Actuated Concentric Tube Robots with Multiple Tubes and Tendons","abstract":"Tendon-actuated concentric tube mechanisms combine the advantages of tendon-driven continuum robots and concentric tube robots while addressing their respective limitations. They overcome the restricted degrees of freedom often seen in tendon-driven designs, and mitigate issues such as snapping instability associated with concentric tube robots. However, a complete and general mechanical model for these systems remains an open problem. In this work, we propose a Cosserat rod-based framework for modeling the general case of $n$ concentric tubes, each actuated by $m_i$ tendons, where $i = \\{1, \\ldots, n\\}$. The model allows each tube to twist and elongate while enforcing a shared centerline for bending. We validate the proposed framework through experiments with two-tube and three tube assemblies under various tendon routing configurations, achieving tip prediction errors $\u003c4\\%$ of the robot's total length. We further demonstrate the model's generality by applying it to existing robots in the field, where maximum tip deviations remain around $5\\%$ of the total length. This model provides a foundation for accurate shape estimation and control of advanced tendon-actuated concentric tube robots.","short_abstract":"Tendon-actuated concentric tube mechanisms combine the advantages of tendon-driven continuum robots and concentric tube robots while addressing their respective limitations. They overcome the restricted degrees of freedom often seen in tendon-driven designs, and mitigate issues such as snapping instability associated w...","url_abs":"https://arxiv.org/abs/2510.23954","url_pdf":"https://arxiv.org/pdf/2510.23954v1","authors":"[\"Pejman Kheradmand\",\"Behnam Moradkhani\",\"Raghavasimhan Sankaranarayanan\",\"Kent K. Yamamoto\",\"Tanner J. Zachem\",\"Patrick J. Codd\",\"Yash Chitalia\",\"Pierre E. Dupont\"]","published":"2025-10-28T00:18:40Z","proceeding":"cs.RO","tasks":"[\"cs.RO\"]","methods":"[]","has_code":false}