Jove
Visualize
Contact Us
JoVE
x logofacebook logolinkedin logoyoutube logo
ABOUT JoVE
OverviewLeadershipBlogJoVE Help Center
AUTHORS
Publishing ProcessEditorial BoardScope & PoliciesPeer ReviewFAQSubmit
LIBRARIANS
TestimonialsSubscriptionsAccessResourcesLibrary Advisory BoardFAQ
RESEARCH
JoVE JournalMethods CollectionsJoVE Encyclopedia of ExperimentsArchive
EDUCATION
JoVE CoreJoVE BusinessJoVE Science EducationJoVE Lab ManualFaculty Resource CenterFaculty Site
Terms & Conditions of Use
Privacy Policy
Policies

Related Concept Videos

The Movement of Organelles and Vesicles01:43

The Movement of Organelles and Vesicles

4.5K
In eukaryotic cells,  cytoskeletal filaments such as actin, microtubules, and intermediate filaments form a mesh-like cytoskeletal network. These filaments serve as tracks for transporting cellular cargo. Specialized motor proteins use the chemical energy stored in adenosine triphosphate (ATP) for this transport. During interphase, microtubules are polarized, with the plus-end towards the cell periphery and the minus-end towards the cell center. Two microtubule-associated motor proteins,...
4.5K
Static and Kinetic Frictional Force01:05

Static and Kinetic Frictional Force

15.9K
One of the simpler characteristics of sliding friction is that it is parallel to the contact surfaces between systems, and is always in a direction that opposes the motion or attempted motion of the systems relative to each other. If two systems are in contact and moving relative to one another, then the friction between them is called kinetic friction. For example, kinetic friction slows a hockey puck sliding on ice.
However, if two systems are in contact and are stationary relative to one...
15.9K
Stability of structures01:14

Stability of structures

165
In mechanical engineering, the stability of systems under various forces is critical for designing durable and efficient structures. One fundamental way to explore these concepts is by analyzing systems like two rods connected at a pivot point, O, with a torsional spring of spring constant k at the pivot point. This system is similar in appearance to a scissor jack used to change tires on a car. In this case, the arms of the linkage (equivalent to the rods in this system) are entirely vertical,...
165
Simplification of a Force and Couple System: II01:23

Simplification of a Force and Couple System: II

285
In a three-dimensional system, multiple forces can act on an object. These forces can be combined into a single equivalent force, known as the resultant force. Similarly, the moments generated by these forces can be combined into a single equivalent moment, the resultant couple moment. In certain situations, these two entities may not be mutually perpendicular, meaning they do not have a 90-degree angle between them. This unique condition requires a deeper understanding of the interplay between...
285
Kinetic Energy for a Rigid Body01:13

Kinetic Energy for a Rigid Body

215
Imagine a solid object involved in a general planar movement, with its center of mass pinpointed at a spot labeled G. The object's kinetic energy relative to an arbitrary point A can be quantified for each of its particles - the ith particle in this case. This measurement is achieved through the employment of the relative velocity definition. The position vector, known as rA, extends from point A to the mass element i.
215
Kinematic Equations: Problem Solving01:15

Kinematic Equations: Problem Solving

12.4K
When analyzing one-dimensional motion with constant acceleration, the problem-solving strategy involves identifying the known quantities and choosing the appropriate kinematic equations to solve for the unknowns. Either one or two kinematic equations are needed to solve for the unknowns, depending on the known and unknown quantities. Generally, the number of equations required is the same as the number of unknown quantities in the given example. Two-body pursuit problems always require two...
12.4K

You might also read

Related Articles

Articles linked to this work by shared authors, journal, and citation graph.

Sort by
Same author

Steerable Sheaths That Turn Endoscopes into Robotic Platforms for Colon Interventions.

Journal of medical devices·2026
Same author

Continuum Robot Segments with High Output Stiffness via Diagonal Backbones.

IEEE robotics and automation letters·2026
Same author

Stiff yet Bendy: Tubular Transmissions for Driving Surgical Robots through Flexible Endoscopes.

Journal of medical robotics research·2025
Same author

Design of Transmission Tubes for Surgical Concentric Push-Pull Robots.

... International Symposium on Medical Robotics. International Symposium on Medical Robotics·2025
Same author

Continuum Robots for Medical Interventions.

Proceedings of the IEEE. Institute of Electrical and Electronics Engineers·2022
Same author

STEERABLE NEEDLE TRAJECTORY FOLLOWING IN THE LUNG: TORSIONAL DEADBAND COMPENSATION AND FULL POSE ESTIMATION WITH 5DOF FEEDBACK FOR NEEDLES PASSING THROUGH FLEXIBLE ENDOSCOPES.

Proceedings of the ASME Dynamic Systems and Control Conference. ASME Dynamic Systems and Control Conference·2022
Same journal

Tip-Growing Robots: Design, Theory, Application.

IEEE transactions on robotics : a publication of the IEEE Robotics and Automation Society·2026
Same journal

Online Adaptation Framework Enables Personalization of Exoskeleton Assistance During Locomotion in Patients Affected by Stroke.

IEEE transactions on robotics : a publication of the IEEE Robotics and Automation Society·2025
Same journal

CRANE: A Redundant, Multi-Degree-of-Freedom Computed Tomography Robot for Heightened Needle Dexterity within a Medical Imaging Bore.

IEEE transactions on robotics : a publication of the IEEE Robotics and Automation Society·2025
Same journal

Ambilateral Activity Recognition and Continuous Adaptation with a Powered Knee-Ankle Prosthesis.

IEEE transactions on robotics : a publication of the IEEE Robotics and Automation Society·2025
Same journal

Safe Start Regions for Medical Steerable Needle Automation.

IEEE transactions on robotics : a publication of the IEEE Robotics and Automation Society·2025
Same journal

A Lightweight Powered Hip Exoskeleton With Parallel Actuation for Frontal and Sagittal Plane Assistance.

IEEE transactions on robotics : a publication of the IEEE Robotics and Automation Society·2025
See all related articles

Related Experiment Video

Updated: Jul 2, 2025

Robotic Mirror Therapy System for Functional Recovery of Hemiplegic Arms
10:32

Robotic Mirror Therapy System for Functional Recovery of Hemiplegic Arms

Published on: August 15, 2016

15.5K

A Kinetostatic Model for Concentric Push-Pull Robots.

Jake A Childs1, Caleb Rucker2

  • 1EndoTheia, Inc., Nashville, TN.

IEEE Transactions on Robotics : a Publication of the IEEE Robotics and Automation Society
|February 19, 2024
PubMed
Summary
This summary is machine-generated.

This study presents a new model for concentric push-pull robots (CPPRs) that accurately predicts their 3D shape, even with multiple tubes, torsion, and external forces. This advanced modeling enhances CPPR design and control.

More Related Videos

Design and Implementation of a Bespoke Robotic Manipulator for Extra-corporeal Ultrasound
07:41

Design and Implementation of a Bespoke Robotic Manipulator for Extra-corporeal Ultrasound

Published on: January 7, 2019

9.2K
Investigating Motor Skill Learning Processes with a Robotic Manipulandum
07:52

Investigating Motor Skill Learning Processes with a Robotic Manipulandum

Published on: February 12, 2017

8.7K

Related Experiment Videos

Last Updated: Jul 2, 2025

Robotic Mirror Therapy System for Functional Recovery of Hemiplegic Arms
10:32

Robotic Mirror Therapy System for Functional Recovery of Hemiplegic Arms

Published on: August 15, 2016

15.5K
Design and Implementation of a Bespoke Robotic Manipulator for Extra-corporeal Ultrasound
07:41

Design and Implementation of a Bespoke Robotic Manipulator for Extra-corporeal Ultrasound

Published on: January 7, 2019

9.2K
Investigating Motor Skill Learning Processes with a Robotic Manipulandum
07:52

Investigating Motor Skill Learning Processes with a Robotic Manipulandum

Published on: February 12, 2017

8.7K

Area of Science:

  • Robotics
  • Mechanical Engineering
  • Applied Physics

Background:

  • Concentric push-pull robots (CPPRs) utilize nested, laser-cut tubes with offset stiffness centers for actuation.
  • Existing CPPR kinematic models are limited, assuming only two tubes, planar configurations, and neglecting torsion and external loads.
  • These limitations hinder the development and application of more complex CPPR designs.

Purpose of the Study:

  • To develop a generalized kinetostatic model for concentric push-pull robots (CPPRs).
  • The new model accounts for an arbitrary number of tubes, variable curvature, 3D shapes, torsion, and external loads.
  • To enable advanced design, planning, and control of CPPRs.

Main Methods:

  • Employed a modified Kirchhoff rod model for each nested tube, incorporating offset stiffness centers.
  • Integrated constraints to maintain concentricity between the tubes.
  • Utilized an energy method to derive the robot's shape based on actuation inputs and external forces.

Main Results:

  • Developed and validated a novel, generalized kinetostatic model for CPPRs.
  • Experimental results with two- and three-tube prototypes, featuring variable stiffness and curvature, showed strong agreement with the model.
  • The model accurately predicts the 3D shape of CPPRs under various conditions, including torsion and external loading.

Conclusions:

  • The developed generalized kinetostatic model significantly advances CPPR capabilities.
  • This model provides a foundation for optimizing CPPR design, improving motion planning, and enhancing control strategies.
  • It paves the way for more sophisticated and versatile applications of concentric push-pull robots.