Multi-Segment Extendable Soft Manipulator Driven by a Pneumatic-Tendon Coupling Mechanism.

ABSTRACT: Continuum robots have garnered significant attention for their high flexibility and adaptability to complex environments. However, achieving the same level of high-precision control as rigid robots remains a significant challenge. This paper introduces an innovative Multi-Segment Extendable Soft Manipulator (MSESM) that employs a pneumatic-tendon hybrid drive mechanism. The design, utilizing off-the-shelf industrial bellows and 3D-printed components, allows the manipulator to achieve an extension ratio of up to 156.85%. By adopting a differential stiffness design, its bending stiffness was increased by approximately 4-5 times, its axial stiffness was increased by approximately 10 times, and its torsional resistance was enhanced, preventing inter-segment coupling during motion. At the contr

SUBMITTER: Yang H 

PROVIDER: S-EPMC12561715 | biostudies-literature | 2025 Sep

REPOSITORIES: biostudies-literature