# Kinematics and performance analysis of a novel concentric tube robotic structure with embedded soft micro-actuation

> Research article (Mechanism and Machine Theory, 2016) · cited 47× · AI/ML

**Wikidata**: [openalex:W2432081996](https://www.wikidata.org/wiki/openalex:W2432081996)  
**Source**: https://4ort.xyz/entity/kinematics-and-performance-analysis-of-a-novel-concentric-tube-robotic-structure-with-embedded-soft-micro-actuation