Six-DoF Pose Estimation for a Tendon-Driven Continuum Mechanism Without a Deformation Model.

In recent years, the application of continuum mechanisms increased as they provide high dexterity, consume a low amount of space, and handle unforeseen collisions with ease. Typically, a deformation model of the continuum is applied to compute task space poses from actuator variables. However, simple models usually lack accuracy, whereas accurate models are computationally demanding. This letter d...