What is modern? Here is an answer which is probably not modern, but, might be of interest.
Suppose $\alpha: I \subseteq \mathbb{R} \rightarrow \mathbb{R}^n$ is a regular arclength parametrized curve. We say $\alpha$ is a Frenet curve if $\alpha', \alpha'', \dots , \alpha^{(n-1)}$ are linearly independent. Furthermore, a set of $n$-vector fields $E_1, E_2, \dots , E_n$ is a Frenet frame of $\alpha$ if the following three conditions are met:
1.) $E_1, E_2, \dots, E_n$ are orthonormal and positively oriented,
2.) for each $k=1,2, \dots , n-1$ we have $\text{span} \{ E_1, \dots, E_k \} = \text{span} \{ \alpha', \dots, \alpha^{(k)} \}$
3.) $\alpha^{(k)} \cdot E_k > 0$ for $k=1,\dots , n-1$.
The condition of linear independence in $n=3$ simply amounts to the assumption $\alpha'' \neq 0$. In other words, a regular non-linear arclength-parametrized curve is a Frenet curve and you can verify that $T,N,B$ frame is a Frenet frame. The Frenet Serret equations also have a generalization to Frenet curves in $\mathbb{R}^n$. In particular:
Let $\alpha$ be a Frenet curve and $E_1,E_2, \dots , E_n$ a Frenet frame then there exist non-negative curvature functions $\kappa_i = E_i' \cdot E_{i+1}$ for $i=1,2, \dots , n-2$ and torsion $\kappa_{n-1} = E_{n-1}' \cdot E_{n}$ for which the following differential equations hold true:
$$ \left[ \begin{array}{l} E_1' \\ E_2' \\ \vdots \\ E_{n-1}' \\ E_n' \end{array} \right] =
\left[ \begin{array}{cccccc}
0 & \kappa_1 &0 & \cdots & 0 & 0 \\
-\kappa_1 & 0 &\kappa_2 & \ddots & \ddots & \vdots \\
\vdots & -\kappa_2 &0 & \ddots & \ddots & \vdots \\
\vdots & \ddots &\ddots & \ddots & 0 &\kappa_{n-1} \\
0 & 0 &\cdots & \cdots & -\kappa_{n-1} & 0
\end{array} \right]
\left[ \begin{array}{l} E_1 \\ E_2 \\ \vdots \\ E_{n-1} \\ E_n \end{array} \right]$$
What is the meaning of these curvature functions?
In short, they simply describe how the frame evolves along the curve
in terms of the frame itself. Curvature and torsion and higher
curvatures are frame dependent concepts.
I'm not sure the history of all this, I personally found these things in Kuhnel's
Differential Geometry: Curves - Surfaces - Manifolds
Notice, curvature, torsion, and the higher curvatures in the equations above all describe departures from planar motion at the infinitesimal level.
Intuitively, if two curves share the same curvature functions then they have the same shape. There is some isometry which moves one curve to another which is the "same". In principle, we can define curves in terms of these functions.
