Recently, continuum manipulators have drawn a lot of interest and effort from the robotic community, nevertheless control and modeling of such manipulators are still challenging tasks especially because they require a continuum approach. In this paper the authors contribute to understanding the relation between the cables tension and the manipulator shape. A geometrically exact approach for direct model and a Jacobian method for the inverse one are implemented for a continuum manipulator driven by cables. The first experimental results show an average tip error less than 6% of the manipulator length. Keywords—Continuum mechanics, soft robotics, tendon-driven manipulators, inverse kinematics model
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