# Chained Spatial Beam Constraint Model: A General Kinetostatic Model for Tendon-Driven Continuum Robots

> Research article (IEEE/ASME Transactions on Mechatronics, 2024) · cited 23× · AI/ML

**Wikidata**: [openalex:W4390956142](https://www.wikidata.org/wiki/openalex:W4390956142)  
**Source**: https://4ort.xyz/entity/chained-spatial-beam-constraint-model-a-general-kinetostatic-model-for-tendon-driven-continuum-robots