Tao-Wen Guo

Stiffness Control of Cable-Driven Continuum Robots Based on Null Space Tension Optimization

The inherent compliance of cable-driven continuum robots (CDCRs) enables safe interaction but often degrades manipulation accuracy and payload capacity. To address this trade-off, this article proposes a novel variable stiffness control (VSC) framework that exploits actuation redundancy for stiffness regulation. Unlike...