Author

Farhad Aghili

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Preprint Aug 2026

Active Stiffness Control of a Supportive Continuum Robot

Supportive continuum robots (SCRs) enhance the load-bearing capability of an operative continuum robot by mechanically coupling it with a supportive arm. However, their passive stiffness is determined by the mechanical configuration and cannot be adjusted online for varying payloads or interaction forces. Active stiffn...

Rana Danesh, Farrokh Janabi-Sharifi, Farhad Aghili · 1 citation