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Continuum robots are typically slender and flexible with infinite freedoms intheory, which poses a challenge for their control and application. The shapesensing of continuum robots is vital to realise accuracy control. This letterproposed a novel general real-time shape sensing framework of continuum robotsbased on the piecewise polynomial curvature (PPC) kinematics model. Weillustrate the coupling between orientation and position at any given locationof the continuum robots. Further, the coupling relation could be bridged by thePPC kinematics. Therefore, we propose to estimate the shape of continuum robotsthrough orientation estimation, using the off-the-shelf orientation sensors,e.g., IMUs, mounted on certain locations. The approach gives a valuableframework to the shape sensing of continuum robots, universality, accuracy andconvenience. The accuracy of the general approach is verified in theexperiments of multi-type physical prototypes.

Orientation to Pose: Continuum Robots Shape Sensing Based on Piecewise Polynomial Curvature Model