Abstract
Active cannulas, so named because of their potential medical applications, are a new class of continuum robots consisting of precurved, telescoping, elastic tubes. As individual component tubes are actuated at the base relative to one another, an active cannula changes shape to minimize stored elastic energy. Here, we derive the differential kinematics of a general n-tube active cannula while accounting for torsional compliance. We experimentally validate the Jacobian using a three-link prototype in a simple stereo visual servoing scheme.
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