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[Submitted on 14 Sep 2026] Title:Tendon-Driven Continuum Robot with Modular Stiffness and In-Situ Self Pose Estimation View a PDF of the paper titled Tendon-Driven Continuum Robot with Modular Stiffness and In-Situ Self Pose Estimation, by Guo Ning (Andrew) Sue and 7 other authors View PDF HTML (experimental) Abstract:Continuum robots enable smooth shape morphing and safe interaction in confined environments. However, most existing systems are task-specific and depend on external sensing infrastructure, limiting their adaptability and real-world deployment. This paper presents a self-contained modular continuum robotic platform that combines mechanical reconfigurability with onboard pose estimation. The robot is constructed from interchangeable continuum joints with analytically precomputed stiffness, allowing rapid assembly and direct programming of the robot shape. Proprioceptive sensing is achieved using magnetic sensors and a modular learning-based framework, where a single model is trained per joint and reused across configurations. The system is experimentally validated in real world, demonstrating self-sensing capabilities and adaptation without external tracking. Subjects: Robotics (cs.RO); Systems and Control (eess.SY) Cite as: arXiv:2609.16256 [cs.RO] (or arXiv:2609.16256v1 [cs.RO] for this version) https://doi.org/10.48550/arXiv.2609.16256 arXiv-issued DOI via DataCite (pending registration) Submission history From: Guo Ning Sue [view email] [v1] Mon, 14 Sep 2026 19:21:09 UTC (2,039 KB) Full-text links: Access Paper: View a PDF of the paper titled Tendon-Driven Continuum Robot with Modular Stiffness and In-Situ Self Pose Estimation, by Guo Ning (Andrew) Sue and 7 other authors View PDF HTML (experimental) TeX Source view license Current browse context: cs.RO new | recent | 2026-09 Change to browse by: cs cs.SY eess eess.SY References & Citations NASA ADS Google Scholar Semantic Scholar Loading... Data provided by: Bibliographic Tools Bibliographic and Citation Tools Bibliographic Explorer Toggle Bibliographic Explorer (What is the Explorer?) Connected Papers Toggle Connected Papers (What is Connected Papers?) Litmaps Toggle Litmaps (What is Litmaps?) scite.ai Toggle scite Smart Citations (What are Smart Citations?) Code, Data, Media Code, Data and Media Associated with this Article alphaXiv Toggle alphaXiv (What is alphaXiv?) Links to Code Toggle CatalyzeX Code Finder for Papers (What is CatalyzeX?) DagsHub Toggle DagsHub (What is DagsHub?) GotitPub Toggle Gotit.pub (What is GotitPub?) Huggingface Toggle Hugging Face (What is Huggingface?) ScienceCast Toggle ScienceCast (What is ScienceCast?) Demos Demos Replicate Toggle Replicate (What is Replicate?) Spaces Toggle Hugging Face Spaces (What is Spaces?) Spaces Toggle TXYZ.AI (What is TXYZ.AI?) Related Papers Recommenders and Search Tools Link to Influence Flower Influence Flower (What are Influence Flowers?) Core recommender toggle CORE Recommender (What is CORE?) Author Venue Institution Topic About arXivLabs arXivLabs: experimental projects with community collaborators arXivLabs is a framework that allows collaborators to develop and share new arXiv features directly on our website. Both individuals and organizations that work with arXivLabs have embraced and accepted our values of openness, community, excellence, and user data privacy. arXiv is committed to these values and only works with partners that adhere to them. Have an idea for a project that will add value for arXiv's community? Learn more about arXivLabs. Which authors of this paper are endorsers? | Disable MathJax (What is MathJax?)