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

One-Degree-of-Freedom System01:24

One-Degree-of-Freedom System

940
In mechanical engineering, one-degree-of-freedom systems form the basis of a wide range of electrical and mechanical components. Using these models, engineers can predict the behavior of various parts in a larger system, which gives them insight into how different forces interact with each other.
A one-degree-of-freedom system is defined by an independent variable that determines its state and behavior. One example of a one-degree-of-freedom system is a simple harmonic oscillator, such as a...
940
Linear Approximation in Time Domain01:21

Linear Approximation in Time Domain

420
Nonlinear systems often require sophisticated approaches for accurate modeling and analysis, with state-space representation being particularly effective. This method is especially useful for systems where variables and parameters vary with time or operating conditions, such as in a simple pendulum or a translational mechanical system with nonlinear springs.
For a simple pendulum with a mass evenly distributed along its length and the center of mass located at half the pendulum's length,...
420
Temperature Dependent Deformation01:12

Temperature Dependent Deformation

643
In a nonhomogeneous rod made up of steel and brass, restrained at both ends and subjected to a temperature change, several steps are involved in calculating the stress and compressive load. Due to the problem's static indeterminacy, one end support is disconnected, allowing the rod to experience the temperature change freely. Next, an unknown force is applied at the free end, triggering deformations in the rod's steel and brass portions. These deformations are then calculated and added...
643
Castigliano's Theorem01:18

Castigliano's Theorem

1.3K
Castigliano's theorem analyzes displacements and rotations in elastic structures. It relates the derivative of elastic strain energy to the applied forces or moments, allowing for the calculation of deformations. The theorem states that the partial derivative of the total strain energy of a system with respect to a specific load results in the displacement at the point where the load is applied. This principle applies to both forces and moments.
1.3K
Stability of structures01:14

Stability of structures

608
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,...
608
Statically Indeterminate Problem Solving01:16

Statically Indeterminate Problem Solving

874
Statically indeterminate problems are those where statics alone can not determine the internal forces or reactions. Consider a structure comprising two cylindrical rods made of steel and brass. These rods are joined at point B and restrained by rigid supports at points A and C. Now, the reactions at points A and C and the deflection at point B are to be determined. This rod structure is classified as statically indeterminate as the structure has more supports than are necessary for maintaining...
874

You might also read

Related Articles

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

Sort by
Same author

Machine-Learning-Based Multi-Modal Force Estimation for Steerable Ablation Catheters.

IEEE transactions on medical robotics and bionics·2024
Same author

Abstracts of presentations to the Annual Meetings of the Canadian Society of Colon and Rectal Surgeons Canadian Association of General Surgeons Canadian Association of Thoracic Surgeons: Canadian Surgery Forum, Toronto, Ont., September 6-9, 2007.

Canadian journal of surgery. Journal canadien de chirurgie·2023
Same author

Canadian Surgery Forum.

Canadian journal of surgery. Journal canadien de chirurgie·2022
Same author

Abstracts of presentations to the Annual Meetings of the Canadian Association of General Surgeons Canadian Association of Thoracic Surgeons Canadian Hepato-Pancreato-Biliary Society Canadian Society of Surgical Oncology Canadian Society of Colon and Rectal Surgeons: Victoria, BC Sept. 10-13, 2009.

Canadian journal of surgery. Journal canadien de chirurgie·2022
Same author

Acinetobacter infections: a retrospective study to determine inhospital mortality rate and clinical factors associated with mortality.

Infection prevention in practice·2021
Same author

Venous thromboembolism prophylaxis in obese, critically-ill patients: A survey of Ottawa region Intensivists.

Thrombosis research·2019
Same journal

Using Robotics to Improve Transcatheter Edge-to-Edge Repair of the Mitral Valve.

IEEE robotics and automation letters·2026
Same journal

Value Explicit Pretraining for Learning Transferable Representations.

IEEE robotics and automation letters·2026
Same journal

Continuum Robot Segments with High Output Stiffness via Diagonal Backbones.

IEEE robotics and automation letters·2026
Same journal

Friction Modeling of Tendon-driven Continuum Robots through Linear Complementarity Problem.

IEEE robotics and automation letters·2026
Same journal

Efficient and Scalable Tuning of Continuous Impedance Control for Powered Knee Prostheses.

IEEE robotics and automation letters·2026
Same journal

Validation of Dynamic Bayesian Optimization for a Non-Stationary Human-in-the-Loop Optimization Problem.

IEEE robotics and automation letters·2026
See all related articles

Related Experiment Video

Updated: Apr 4, 2026

Subject-specific Musculoskeletal Model for Studying Bone Strain During Dynamic Motion
09:32

Subject-specific Musculoskeletal Model for Studying Bone Strain During Dynamic Motion

Published on: April 11, 2018

10.4K

Error-State Model Predictive Path Integral Control of Tendon-Driven Continuum Robots using Cosserat Rod Dynamics with

E Arefinia1, N Feizi2, F C Pedrosa1

  • 1Department of Electrical and Computer Engineering, Western University, London, ON, Canada, and Canadian Surgical Technologies and Advanced Robotics (CSTAR), University Hospital, LHSC, London, ON, Canada.

IEEE Robotics and Automation Letters
|April 3, 2026
PubMed
Summary
This summary is machine-generated.

This study introduces an error-state Model Predictive Path Integral (MPPI) controller for tendon-driven continuum robots (TDCRs), enhancing path accuracy and computational efficiency. The novel framework outperforms existing methods in robotic control applications.

Keywords:
Ablation CatheterCosserat Rod ModelError-state MPPILie groupsTendon-Driven Continuum Robots

More Related Videos

Author Spotlight: Integrating Mechanical and Biological Analysis in Tendinopathy Research
04:37

Author Spotlight: Integrating Mechanical and Biological Analysis in Tendinopathy Research

Published on: March 1, 2024

1.5K
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

16.2K

Related Experiment Videos

Last Updated: Apr 4, 2026

Subject-specific Musculoskeletal Model for Studying Bone Strain During Dynamic Motion
09:32

Subject-specific Musculoskeletal Model for Studying Bone Strain During Dynamic Motion

Published on: April 11, 2018

10.4K
Author Spotlight: Integrating Mechanical and Biological Analysis in Tendinopathy Research
04:37

Author Spotlight: Integrating Mechanical and Biological Analysis in Tendinopathy Research

Published on: March 1, 2024

1.5K
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

16.2K

Area of Science:

  • Robotics
  • Control Systems Engineering
  • Computational Mechanics

Background:

  • Continuum robots require precise control for complex tasks.
  • Existing control methods for tendon-driven continuum robots (TDCRs) face challenges in accuracy and computational efficiency.

Purpose of the Study:

  • To develop an advanced Model Predictive Path Integral (MPPI) framework for TDCRs.
  • To improve tracking accuracy and computational performance in robotic control.

Main Methods:

  • Formulated tracking-error dynamics on a Lie group for precise pose geometry.
  • Developed a nonlinear Cosserat-rod model for TDCR dynamics, updated rapidly.
  • Implemented an uncertainty-aware MPPI controller with adaptive cost and exponential weighting.

Main Results:

  • The proposed MPPI framework achieved superior accuracy compared to conventional MPC, Lie-group MPC, and offline IQL.
  • Demonstrated significantly better computational efficiency than MPC.
  • The model is adaptable to multi-segment TDCRs and can account for tendon friction.

Conclusions:

  • The error-state MPPI framework offers a highly accurate and computationally efficient solution for TDCR control.
  • This approach advances the capabilities of continuum robots in precision-demanding applications.