  A hybrid continuum robot design is introduced that combines a proximal
tendon-actuated section with a distal telescoping section comprised of
permanent-magnet spheres actuated using an external magnet. While,
individually, each section can approach a point in its workspace from one or at
most several orientations, the two-section combination possesses a dexterous
workspace. The paper describes kinematic modeling of the hybrid design and
provides a description of the dexterous workspace. We present experimental
validation which shows that a simplified kinematic model produces tip position
mean and maximum errors of 3% and 7% of total robot length, respectively.
