A Modular, Tendon Driven Variable Stiffness Manipulator with Internal Routing for Improved Stability and Increased Payload Capacity
Kyle L. Walker,Alix J. Partridge,Hsing-Yu Chen,Rahul R. Ramachandran,Adam A. Stokes,Kenjiro Tadakuma,Lucas Cruz Da Silva,Francesco Giorgio-Serchi,Kyle L. Walker,Alix J. Partridge,Hsing-Yu Chen,Rahul R. Ramachandran,Adam A. Stokes,Kenjiro Tadakuma,Lucas Cruz Da Silva,Francesco Giorgio-Serchi
Stability and reliable operation under a spectrum of environmental conditions is still an open challenge for soft and continuum style manipulators. The inability to carry sufficient load and effectively reject external disturbances are two drawbacks which limit the scale of continuum designs, preventing widespread adoption of this technology. To tackle these problems, this work details the design ...
