J. Guo, H. Liu, Z. Liang, Z. Shao, D. Wu, S. Cai, X. Xiong. A Novel Actuating Mechanism for Concentric Tube Robots based on Universal Friction Wheel Sleeves. 2022 IEEE International conference on Advanced Robots & Mechatronics(ICARM2022). Guilin, China. 2022. Best Paper Finalist.
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