@article{renda_screw-based_2017,
	title = {Screw-{Based} {Modeling} of {Soft} {Manipulators} with {Tendon} and {Fluidic} {Actuation}},
	issn = {1942-4302},
	url = {http://dx.doi.org/10.1115/1.4036579},
	doi = {10.1115/1.4036579},
	abstract = {A screw-based formulation of the kinematics, differential
kinematics and statics of soft manipulators is presented,
which introduces the soft robotics counterpart to the fundamental geometric theory of robotics developed since Brockett’s
original work on the subject. As far as the actuation
is concerned, the embedded tendon and fluidic actuation
are modeled within the same screw-based framework and
the screw-system to which they belong is shown. Furthermore,
the active and passive motion subspaces are clearly
differentiated and guidelines for the manipulable and force-closure conditions are developed. Finally, the model is validated
through experiments using the soft manipulator for
minimally-invasive surgery STIFF-FLOP.},
	urldate = {2017-05-09TZ},
	journal = {Journal of Mechanisms and Robotics},
	author = {Renda, Federico and Cianchetti, Matteo and Abidi, Haider and Dias, Jorge and Seneviratne, Lakmal},
	month = apr,
	year = {2017}
}

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