This repository visualises a single section tendon driven continuum robot based on Piecewise Constant Curvature (PCC) method using ROS and RVIZ
Repository for "Inverse Kinematics of Tendon Driven Continuum Robots using Invertible Neural Network" (CompAuto 2022)
Jun, 2021 - Mar, 2023. Adaptive Robotic Controls Lab (ArcLab), The University of Hong Kong (HKU). Manuscript received 15 November 2022; accepted 9 March 2023. This work was supported by the General Research Fund under Grant 17204222, and in part by the Seed Funding for Strategic Interdisciplinary Research Scheme and Platform Technology Fund.
Implemented calibration and computer-vision algorithms for an existing multi-camera system to capture the motion and shape sense of neurosurgical tendon-driven continuum robots under the Continuum Robotics Laboratory and University of Toronto Robotics Institute.
A deeplearning based Koopman approach for modeling the nonlinear dynamics of tendon driven continuum robots.
Humanoid research project (Phase 0): firmware, host software, STL files and electronics for tendon-driven joints inside real human proportions. GPLv3 software, CC BY-NC-ND hardware files.
Documentation for all things MyoRobotics
Tendon route optimization by finding the set of feasible and optimal forces yielded by a robotic arm's end-effector
Open-source 7-axis manipulator with 20-DoF biomimetic tendon hand: 500 Hz MuJoCo WASM physics, LeRobot ACT imitation learning, and ROS 2 export.
An open, cat-sized quadruped whose joints are pulled by Bowden cables from motors in the body. CAD in build123d, a MuJoCo model of the whole cable drivetrain, and walking policies trained on the GPU (MuJoCo-Warp) for sim-to-real.
Untethered pneumatic–tendon rolling robot with a dodecahedral body, STM32/FreeRTOS control, and open mechanical designs.
Low-cost, 3D-printed tendon-driven robotic arm — ESP32 firmware, CAD, and research. Bergen Community College STEM Research Center, Summer 2026.
🎮Joy-Con semantic grasp teleoperation and current-position contact hold for the TetherIA Aero Hand✋️, with real-object demonstrations.
Control code for the SoftHand Model-W: a 3D-printed, underactuated robot hand with a 2-DoF tendon-driven wrist (arXiv:2604.00738)
Learning-Based Whole-Body Inverse Kinematics for a Tendon-Driven Continuum Robot
An open-source high-DOF tendon-driven dexterous hand: mechanical models (SolidWorks 2025 + STEP), PCB files and design documentation.
Vision-teleoperated MuJoCo digital twin of a tendon-driven robotic hand: MediaPipe finger tracking → tendon forces, as two ROS 2 Jazzy Docker services
CAD, photos and build notes for the 3- and 4-finger tendon-driven robotic hands controlled by handlab
Tendon-driven three-finger soft robotic gripper with antagonistic actuation, silicone molding, suction-assisted grasping and pressure sensing.
Data-driven dynamic modeling of a two-segment tendon-driven continuum robotic arm — ARMAX, quadratic polynomial, and NARX neural network identification with GA-optimized hyperparameters (B.Sc. thesis, K. N. Toosi University)
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