Continuum Robots for Manipulation Applications: A Survey

Table 8

Drive mechanisms.

Drive mechanism	Force actuation	Advantages	Disadvantages	Material
Tendon driven [32–71]	Electric or pneumatic	Simple calculation and low error in estimating the end-effector position	Complex body structure	Polyamide structure
Nontendon driven [192–211]	Pneumatic (PMA)	Simple body structure to contract and elongate	Complex calculation and high error in estimating the end-effector position	Braided and fiber