Firdaus, Md ModassirMd ModassirFirdausJadav, ShailShailJadavProf. Madhu Vadali2026-03-132026-03-132026-02-010263-574710.1017/S026357472610318X2-s2.0-105031949904https://repository.iitgn.ac.in/handle/IITG2025/34800Tendon-driven Continuum Robots (TDCRs) excel at operating in confined and complex environments due to their inherent flexibility and high degrees of freedom. Despite these advantages, achieving precise control in multi-section TDCRs remains challenging because of their infinite degrees of freedom, nonlinear behaviour, and coupled tendon actuation. This paper introduces a generalised virtual actuation space framework that significantly simplifies kinematic modelling and control of multi-section TDCRs. By formulating a novel concept of virtual actuation space that converts each bending section of the TDCR two-input actuation system, the proposed method reduces the complexity of TDCR modelling and control, enabling unique and simplified representations of each section. Furthermore, the formulation decouples each section via a generalised tendon mapping matrix that handles coupling effects. Experimental validation on a two-section TDCR demonstrates tracking performance with a root mean square error below 3 mm, corresponding to approximately 1% of the robot’s length. These results confirm the method’s efficacy in improving TDCR precision for minimally invasive surgery, industrial applications, and other constrained environments.en-USTendon-driven continuum robotsTrajectory trackingCompliant robotTendon mappingArticle1469-8668WOS:001701789300001