Inverse Kinematics Analysis of a P2CuP2Cu Concentric Tube Robot with Embedded Micro-actuation for 3T-1R Contactless Tasks

  • Mohamed Taha Chikhaoui
  • Kanty Rabenorosoa
  • Nicolas Andreff
Part of the Springer Proceedings in Advanced Robotics book series (SPAR, volume 4)


This paper introduces a novel kinematic structure based on the concentric tube robot (CTR) paradigm, augmented with embedded soft micro-actuation. The latter allows to replace troublesome R-joints in CTR with 3 tubes by active tube curvatures (Cu-joints). First, the forward kinematic model is derived. Furthermore, the inverse kinematic problem is partially solved by restricting it to 3-translations/1-rotation movements. Finally, the inverse model is used to perform path planning schemes in medical scenarios.


Concentric tube robot Soft micro-actuation Path planning Medical application 



This work has been supported by the Labex ACTION project (contract ANR-11-LABX-0001-01) and by NEMRO project (contract ANR-14-CE17-0013).


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Copyright information

© Springer International Publishing AG 2018

Authors and Affiliations

  • Mohamed Taha Chikhaoui
    • 1
  • Kanty Rabenorosoa
    • 2
  • Nicolas Andreff
    • 2
  1. 1.Laboratory for Continuum RoboticsLeibniz Universitaet HannoverHannoverGermany
  2. 2.AS2M DepartmentFEMTO-ST Institute, UBFC/UFC/CNRS/ENSMM/UTBMBesançonFrance

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