# The Curved Manipulator (Cuma-Type Arm): Realization of a Serial Manipulator with General Structure in Modular Design

> Research article (Proceedings of the 14th IFToMM World Congress, 2015) · cited 12× · AI/ML

**Wikidata**: [openalex:W2274147368](https://www.wikidata.org/wiki/openalex:W2274147368)  
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