Author

Pari Qarehdaghi

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Preprint Aug 2026

Constraint-Aware Physics-Informed Neural Networks for Static Shape Estimation of Co-Manipulative Continuum Robots

A constraint-aware physics-informed neural network (PINN) is presented for static shape estimation of a tendon-driven CCR modeled using the geometric variable strain formulation and achieves accurate, physically consistent, and computationally efficient static shape estimation of closed-chain CCRs.

Rana Danesh, Pari Qarehdaghi, Farrokh Janabi-Sharifi · 0 citations