2026-10-07T20:12:33Z https://api.figshare.com/v2/oai

oai:figshare.com:article/31990188 2026-09-23T12:17:58Z category_26440 item_type_3 month_year_09_2026

Multi-sensor dataset of a tendon-driven continuum robot in dynamic motion Andrea Gotelli (23126431) Mechatronics hardware design and architecture Continuum robotics Dynamics & Kinematics Fibre Bragg Grating Sensors Motion Capturing (MoCap) force sensor device We present a multi-sensor dataset of a single-segment tendon-driven continuum robot undergoing quasi-static motions, dynamic trajectories, and contact interactions with a tracked object in the workspace.Six sensing modalities are recorded synchronously: optical motion capture of five disk poses along the backbone, fiber-optic distributed strain sensing (with shape reconstruction), tendon tension and displacement, base force--torque, and an external object pose and contact force.The dataset is organized into three subsets targeting distinct research tasks: quasi-static configurations for mechanical parameter identification and static model validation; dynamic trajectories (planar sweeps, star patterns, circular paths, and Lissajous curves at two actuation speeds) for dynamics modeling, state estimation, and learning-based methods; and dynamic motions with simultaneous contact measurements for contact interaction analysis.Both raw sensor recordings and processed data (low-pass filtered at 15 Hz, uniformly resampled at 100 Hz, and time-aligned) are provided in a consistent file structure with documented variable naming.Dataset quality is characterized through cross-modal validation, including pairwise cross-correlation of all sensor streams and force--kinematics consistency checks.The robot platform is assembled from commercially available components with a fully documented design. 2026-04-12T19:48:58Z Dataset Dataset 10.6084/m9.figshare.31990188.v3 https://figshare.com/articles/dataset/Dataset_Dynamic_Continuum_Robot/31990188 CC BY 4.0