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Author

Farrokh Janabi-Sharifi

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Preprint Aug 2026

Constraint-Aware Physics-Informed Neural Networks for Static Shape Estimation of Co-Manipulative Continuum Robots

A constraint-aware physics-informed neural network (PINN) is presented for static shape estimation of a tendon-driven CCR modeled using the geometric variable strain formulation and achieves accurate, physically consistent, and computationally efficient static shape estimation of closed-chain CCRs.

Rana Danesh, Pari Qarehdaghi, Farrokh Janabi-Sharifi · 0 citations
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

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