System for controlling continuum robot, and method for controlling continuum robot

Abstract

A system for controlling a continuum robot, the continuum robot including a bendable portion and a wire driving unit, the bendable portion including a plurality of bending sections each driven by a wire, the wire driving unit being configured to drive the wire for each of the plurality of bending sections, includes a position control unit, a generated force calculation unit, and a force control unit that are a control unit configured to control operation of the wire driving unit for each of the plurality of bending sections, and a coupling control unit that is one component of a suppression unit configured to, when the wire driving unit for one of the plurality of bending sections is operated, suppress variation in tension of the wires for other bending sections.

Dependencies are inferred from the claim text.