Development of a 6 DOF Soft Robotic Manipulator with Integrated Sensing Skin
Shen Treratanakulchai,Enrico Franco,Arnau Garriga-Casanovas,Hu Minghao,Panagiotis Kassanos,Ferdinando Rodriguez y Baena,Shen Treratanakulchai,Enrico Franco,Arnau Garriga-Casanovas,Hu Minghao,Panagiotis Kassanos,Ferdinando Rodriguez y Baena
This paper presents a new 6 DOF soft robotic manipulator intended for colorectal surgery. The manipulator, based on a novel design that employs an inextensible tube to limit axial extension, is shown to maximize the force exerted at its tip and the bending angle, the latter being measured with a soft sensing skin. Manufacturing of the prototype is achieved with a lost-wax silicone-casting techniqu...
