提出新型应变模型，实测验证其在连续体机器人形变重建中的高精度与高效性。
Performance and Experimental Analysis of Strain-based Models for Continuum Robots
- 采用三阶应变插值法，同时捕捉单一与复合变形效应。
- 实验平均误差仅0.58%杆长，单次计算耗时0.32秒。
- 无需应变片等传感器，仅靠视觉标记即可实现高精度重构，适合快速原型验证。
尽管应变基模型在机器人领域广泛应用，但缺乏超越均匀弯曲测试的性能评估标准。随着连续体机器人原型设计的增多，亟需对其模型适用性进行全面评估。为此，本文研究了一种三阶应变插值方法在形状重建中的表现，分析其对单一及复合变形的捕捉能力，并与几何可变应变法进行对比。随后，通过操控细长杆并用摄像头记录其配置，验证了仿真结果：利用机械臂移动杆端，通过反射标记提取形态，无需任何外部传感器（如应变片或力矩传感器）。实验表明，模型预测与实际形状高度一致，平均误差为杆长的0.58%，单次配置计算时间仅为0.32秒，优于现有模型。
原文摘要 · Abstract (English)
Although strain-based models have been widely adopted in robotics, no comparison beyond the uniform bending test is commonly recognized to assess their performance. In addition, the increasing effort in prototyping continuum robots highlights the need to assess the applicability of these models and the necessity of comprehensive performance evaluation. To address this gap, this work investigates the shape reconstruction abilities of a third-order strain interpolation method, examining its ability to capture both individual and combined deformation effects. These results are compared and discussed against the Geometric-Variable Strain approach. Subsequently, simulation results are experimentally verified by reshaping a slender rod while recording the resulting configurations using cameras. The rod configuration is imposed using a manipulator displacing one of its tips and extracted through reflective markers, without the aid of any other external sensor -- i.e. strain gauges or wrench sensors placed along the rod. The experiments demonstrate good agreement between the model predictions and observed shapes, with average error of 0.58% of the rod length and average computational time of 0.32s per configuration, outperforming existing models.
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