Continuum robots, which often rely on interdisciplinary and multimedia collaborations, have been increasingly recognized for their potential to revolutionize the field of human-computer interaction (HCI) in varied applications due to their adaptive, responsive, and flexible characteristics. Despite their promises, the lack of an integrated framework poses a significant limitation for both users and developers, resulting in inefficiency and complexity during preliminary developments. Thus, this paper introduces a unified framework for continuum robotic systems that addresses these challenges by integrating system architecture, dynamics computation, and control strategy within a computer-aided design (CAD) platform. The proposed method allows for efficient modeling and quick preview of the robot performance, and thus facilitating iterative design and implementation, with a view to enhancing the quality of robot developments.

翻译：连续体机器人凭借其自适应、响应灵敏及柔顺的特性，在多样化应用中展现出革新人机交互领域的潜力，其发展通常依赖于跨学科及多媒体的协同合作。尽管前景广阔，但缺乏集成化框架对用户和开发者构成了显著限制，导致在初期开发阶段存在效率低下与复杂度高的问题。为此，本文提出一种面向连续体机器人系统的统一框架，通过将系统架构、动力学计算与控制策略集成于计算机辅助设计平台中，以应对上述挑战。所提方法能够实现高效的机器人性能建模与快速预览，从而促进迭代式设计与实施，旨在提升机器人开发的质量。