Firdaus, Md ModassirMd ModassirFirdausVadali, MadhuMadhuVadali2025-08-312025-08-312023-07-05[9781450399807]10.1145/3610419.36104912-s2.0-85179891148https://d8.irins.org/handle/IITG2025/26729Tendon-driven Flexible Continuum Manipulators (FCMs) have proven their potential usability in confined and unstructured environments where rigid-link manipulators under-perform. However, inverse kinematics remains a challenge. This paper presents a new approach that relates the manipulator's workspace to the actuation space. In this approach, a virtual actuation space is defined, comprising a virtual tendon and the bending plane of the manipulator. The change in lengths of the actuating tendons that cause the bending is mapped to the change in the length of a single virtual tendon. An example of a tip-actuated three-tendon FCM provides a detailed description of the forward and inverse kinematics and experimental validations. The experimental results show a reasonable match between the commands and estimates. This approach reduces the order of the actuation space from three tendons to one tendon for the example system, thus, providing a simpler method for designing and controlling FCMs with multiple sections.falseconstant curvature | continuum manipulators | flexible manipulators | inverse kinematics | tendon-driven manipulatorsConference Paper5 July 2023072cpConference Proceeding3