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Each disk rotation thus adds a degree of freedom to the actuation space, complicating the mapping from a desired backbone curve to the corresponding actuator inputs. However, when the backbone shape is projected into an intermediate space defined by curvature and torsion (C-T), patterns emerge that highlight which di"},"claims":{"count":4,"items":[{"kind":"strongest_claim","text":"The proposed actuation framework offers a model-free alternative to conventional control approaches, bypassing the complexities of modeling reconfigurable TDCMs.","source":"verdict.strongest_claim","status":"machine_extracted","claim_id":"C1","attestation":"unclaimed"},{"kind":"weakest_assumption","text":"That projecting the backbone shape into curvature-torsion space produces reliable patterns identifying the most influential disks, enabling effective sequential approximation of global shape followed by distal fine-tuning without degrading overall performance.","source":"verdict.weakest_assumption","status":"machine_extracted","claim_id":"C2","attestation":"unclaimed"},{"kind":"one_line_summary","text":"Reconfigurable TDCMs with active disk rotations use curvature-torsion projection to simplify shape matching through sequential proximal-to-distal adjustments.","source":"verdict.one_line_summary","status":"machine_extracted","claim_id":"C3","attestation":"unclaimed"},{"kind":"headline","text":"Projecting the backbone shape of reconfigurable tendon-driven continuum manipulators into curvature-torsion space reveals influential disks that enable a sequential model-free actuation strategy.","source":"verdict.pith_extraction.headline","status":"machine_extracted","claim_id":"C4","attestation":"unclaimed"}],"snapshot_sha256":"6174f86513dd0c8c8b86dac6165773e0dc5f202c00d6d711e7163b902d8f74bb"},"source":{"id":"2604.12792","kind":"arxiv","version":1},"verdict":{"id":"1e56a283-b696-4bd4-9bc9-f57f8cd8075a","model_set":{"reader":"grok-4.3"},"created_at":"2026-05-10T14:51:09.530836Z","strongest_claim":"The proposed actuation framework offers a model-free alternative to conventional control approaches, bypassing the complexities of modeling reconfigurable TDCMs.","one_line_summary":"Reconfigurable TDCMs with active disk rotations use curvature-torsion projection to simplify shape matching through sequential proximal-to-distal adjustments.","pipeline_version":"pith-pipeline@v0.9.0","weakest_assumption":"That projecting the backbone shape into curvature-torsion space produces reliable patterns identifying the most influential disks, enabling effective sequential approximation of global shape followed by distal fine-tuning without degrading overall performance.","pith_extraction_headline":"Projecting the backbone shape of reconfigurable tendon-driven continuum manipulators into curvature-torsion space reveals influential disks that enable a sequential model-free actuation strategy."},"integrity":{"clean":true,"summary":{"advisory":0,"critical":0,"by_detector":{},"informational":0},"endpoint":"/pith/2604.12792/integrity.json","findings":[],"available":true,"detectors_run":[],"snapshot_sha256":"c28c3603d3b5d939e8dc4c7e95fa8dfce3d595e45f758748cecf8e644a296938"},"references":{"count":17,"sample":[{"doi":"","year":2013,"title":"Continuous backbone “continuum","work_id":"8d8c7fc5-fbb4-4a04-af42-a977da329b73","ref_index":1,"cited_arxiv_id":"","is_internal_anchor":false},{"doi":"","year":2015,"title":"Continuum robots for medical applications: A survey,","work_id":"cbb9868d-1908-45d3-b964-148646f33c01","ref_index":2,"cited_arxiv_id":"","is_internal_anchor":false},{"doi":"","year":2017,"title":"On the merits of helical tendon routing in continuum robots,","work_id":"4cc7208a-59fc-421e-aa9d-9233dfcdadb2","ref_index":3,"cited_arxiv_id":"","is_internal_anchor":false},{"doi":"","year":2011,"title":"Statics and dynamics of continuum robots with general tendon routing and external loading,","work_id":"9dd38b46-2a77-4a2f-b9bd-b798822580d0","ref_index":4,"cited_arxiv_id":"","is_internal_anchor":false},{"doi":"","year":2022,"title":"Fas—a fully actuated segment for tendon-driven continuum robots,","work_id":"9b475d34-2af5-4f97-9502-e447f8a7ef6d","ref_index":5,"cited_arxiv_id":"","is_internal_anchor":false}],"resolved_work":17,"snapshot_sha256":"bc7d99365e2264f0eaa5879332377cb22cf9df1fccbbfa14cc44f9f6fc659133","internal_anchors":0},"formal_canon":{"evidence_count":0,"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"author_claims":{"count":0,"strong_count":0,"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"builder_version":"pith-number-builder-2026-05-17-v1"}