This three-segment tendon-driven continuum robot features a slender 20 mm-diameter body with a total length of 516 mm. The platform integrates embedded IMUs, tendon actuation, and high-rate motor feedback to support research in proprioceptive shape estimation and closed-loop control of continuum robots.

Highlights

• Three-segment slender continuum structure, measuring 516 mm in length and only 20 mm in diameter, constructed from interlocking rigid vertebrae and flexible NiTi rods.
• Nine-tendon actuation system driven by RobStride 05 quasi-direct-drive motors with torque feedback and active tendon pretension.
• Seven embedded IMUs distributed along the robot body provide onboard orientation measurements for proprioceptive full-body shape estimation.
• ROS2-integrated sensing and actuation system operates at 400 Hz, with OptiTrack motion capture available for ground-truth measurements during offline data collection.