Continuum Robots for Manipulation Applications: A Survey

Table 2

The classification of continuum models.

Robot structure	Description	Application	Advantage	References (examples)
Single segment	Robot body consists of a single backbone-like structure with limited constant curvature freedom of motion.	Cleaning	Simple structure	Elephant: [15]
				Human arm: [156]
				Octopus: [76]
				Vine: [179]
Multisegment	Robot body consists of multiple segments, each with the freedom to move as a single element structure, but independent of other elements.	Inspection	Connected control	Elephant: [14]
				Human arm: [51]
				Vine: [173]
				Tongue and tail: [183]
				Snake: [70]
Single segment-multidisc	The robot body is composed of multiple discs of the same or varying radii arranged equidistant from each other, along with a backbone structure that is a single segment.	Medical surgery	Maneuverability	Elephant: [28]
				Mammalian spine: [35]
				Snake: [32]
				Tentacle: [87]
				Tongue and tail: [182]
				Vine: [166]
Multi segment-multidisc	The robot body is composed of multiple discs of the same or varying radii arranged equidistant from each other, along with a backbone structure that is of multiple segments.	Mobility	Multipurpose	Elephant: [24]
				Mammalian spine: [42]
				Snake: [63]
				Tentacle: [91]
				Human arm: [157]
				Vine: [180]
Continuous structure	Robot body consists of multiple fibers braided together. The fiber ends are connected to cables that can be individually wound up/down from a pulley.	Manipulation	Flexibility	Snake: [68]
				Octopus: [72]
				Tentacle: [90]
				Biological vine: [161]
				Human arm: [149]
				Plant: [181]