Skip to main content

Research Repository

Advanced Search

Continuum Robots: An Overview

Russo, Matteo; Sadati, S.M. Hadi; Dong, Xin; Mohammad, Abdelkhalick; Walker, Ian D.; Bergeles, Christos; Xu, Kai; Axinte, Dragos A.

Continuum Robots: An Overview Thumbnail


Matteo Russo

S.M. Hadi Sadati

Ian D. Walker

Christos Bergeles

Kai Xu

Professor of Manufacturing Engineering


In this paper, we discuss recent advances, current limitations, and open challenges in the design, modeling, and control of continuum robots. Thanks to their lean bodies, these robots achieve a long reach through narrow and tortuous environments, enabling currently unachievable tasks for medical, industrial, and service applications. The recent surge in research on these robots led to significant advances in design, modeling, and control methods. Here, we examine these developments with a comprehensive review of existing continuum robots and emerging technologies. We then compare modeling and control approaches, and examine navigation strategies exclusive to continuum robots, such as follow-the-leader, coiling, and circumnutation. Finally, we provide an overview of their applications with a focus on industrial and service tasks, outlining open research challenges and future developments.


Russo, M., Sadati, S. H., Dong, X., Mohammad, A., Walker, I. D., Bergeles, C., …Axinte, D. A. (2023). Continuum Robots: An Overview. Advanced Intelligent Systems, 5(5), Article 2200367.

Journal Article Type Review
Acceptance Date Feb 14, 2023
Online Publication Date Mar 23, 2023
Publication Date 2023-05
Deposit Date Feb 16, 2023
Publicly Available Date Mar 23, 2023
Journal Advanced Intelligent Systems
Electronic ISSN 2640-4567
Peer Reviewed Peer Reviewed
Volume 5
Issue 5
Article Number 2200367
Keywords Continuum Robots; Soft Robots; Robotics; Modeling; Control; Design
Public URL
Publisher URL


You might also like

Downloadable Citations