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An Operating Stiffness Controller for the Medical Continuum Robot Based on Impedance Control

Jinyu Duan Kai Zhang Kun Qian Jianxiong Hao Zhiqiang Zhang Chaoyang Shi

类生命系统（英文）2025，Vol.2025Issue(4)：437-447,11.

类生命系统（英文）2025，Vol.2025Issue(4)：437-447,11.DOI:10.34133/cbsystems.0110

An Operating Stiffness Controller for the Medical Continuum Robot Based on Impedance Control

Jinyu Duan ¹Kai Zhang ¹Kun Qian ²Jianxiong Hao ¹Zhiqiang Zhang ³Chaoyang Shi¹

作者信息

1. Key Laboratory of Mechanism Theory and Equipment Design of Ministry of Education,School of Mechanical Engineering,Tianjin University,Tianjin 300072,China
2. School of Engineering and Physical Sciences,Heriot-Watt University,Edinburgh EH14 4AS,UK
3. School of Electronic and Electrical Engineering,University of Leeds,Leeds LS2 9JT,UK
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摘要

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Jinyu Duan,Kai Zhang,Kun Qian,Jianxiong Hao,Zhiqiang Zhang,Chaoyang Shi..An Operating Stiffness Controller for the Medical Continuum Robot Based on Impedance Control[J].类生命系统（英文）,2025,2025(4):437-447,11.

基金项目

This work was supported in part by Technology Program Project of Shaoxing City under grant 2023A14016,the National Natural Science Foundation of China under grants 62211530111 and 92148201,Science and Royal Society under IEC\NSFC\211360,and Graduate Research Innovation Project by Tianjin Education Commission under grant 2022BKY075. （）

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