# A Biarc Method for Kinematics and Configuration Planning of Concentric Wire-Driven Manipulators

> Research article (IEEE Access, 2019) · cited 11× · AI/ML

**Wikidata**: [openalex:W2980444665](https://www.wikidata.org/wiki/openalex:W2980444665)  
**Source**: https://4ort.xyz/entity/a-biarc-method-for-kinematics-and-configuration-planning-of-concentric-wire-driven-manipulators