Cable-driven Continuum Robotics: Proprioception via Proximal-integrated Force Sensing

2026-03-08

AI Summary

This work addresses the challenge of simultaneously perceiving three-dimensional contact forces and shape in micro-scale continuum robots, which is hindered by structural miniaturization and difficulties in sensor integration. Inspired by the synergistic tendon-joint proprioception mechanism of human fingers, the authors propose a quasi-biomimetic proprioceptive strategy that integrates proximal cable tension measurements with a six-axis force/torque sensor. By leveraging biomechanically informed design and nonlinear optimization modeling, the complex multi-physical couplings are reformulated into a tractable optimization problem, enabling joint estimation of contact forces, contact locations, and robot shape. Experimental results demonstrate that the proposed approach achieves high-accuracy 3D force and deformation sensing on a micro-scale continuum robot, offering a critical enabler for safe clinical interaction.

Technology Category

• Intelligent Robots: Manipulation
• Search and Optimization: Mixed Discrete/Continuous Search
• Computer Vision: Low Level & Physics-based Vision

Application Category

• Responsible Web: Machine-in-the-loop, human agency and autonomy
• Systems and Infrastructure for Web, Mobile and WoT: Experiences and lessons learnt from Web-based algorithms and system deployments
• Graph Algorithms and Modeling for the Web: Efficient manipulation of static and dynamic Web-related graphs

Abstract

Micro-scale continuum robots face significant limitations in achieving three-dimensional contact force perception, primarily due to structural miniaturization, nonlinear mechanical, and sensor integration. To overcome these limitations, this paper introduces a novel proprioception method for cable-driven continuum robots based on proximal-integrated force sensing (i.e., cable tension and six-axis force/torque (F/T) sensor), inspired by the tendon-joint collaborative sensing mechanism of the finger. By integrating biomechanically inspired design principles with nonlinear modeling, the proposed method addresses the challenge of force perception (including the three-dimensional contact force and the location of the contact point) and shape estimation in micro-scale continuum robots. First, a quasi-bionic mapping between human tissues/organs and robot components is established, enabling the transfer of the integrated sensing strategy of tendons, joints, and neural feedback to the robotic system. Second, a multimodal perception strategy is developed based on the structural constraints inherent to continuum robots. The complex relationships among mechanical and material nonlinearities, robot motion states, and contact forces are formulated as an optimization problem to reduce the perception complexity. Finally, experimental validation demonstrates the effectiveness of the proposed method. This work lays the foundation for developing safer and smarter continuum robots, enabling broader clinical adoption in complex environments.

Problem

• continuum robotics
• force perception
• micro-scale
• sensor integration
• contact force

Innovation

• cable-driven continuum robot
• proprioception
• proximal-integrated force sensing
• biomimetic sensing
• multimodal perception