# A Novel Discrete Wire-Driven Continuum Robot Arm with Passive Sliding Disc: Design, Kinematics and Passive Tension Control

> Research article (Robotics, 2019) · cited 42× · AI/ML

**Wikidata**: [openalex:W2955146521](https://www.wikidata.org/wiki/openalex:W2955146521)  
**Source**: https://4ort.xyz/entity/a-novel-discrete-wire-driven-continuum-robot-arm-with-passive-sliding-disc-design-kinematics-and-passive-tension-control