The Lobster-inspired Antagonistic Actuation Mechanism Towards a Bending Module
Yaohui Chen,Hoam Chung,Bernard Chen,Yinjiya Bao,Yonghang Sun,Yaohui Chen,Hoam Chung,Bernard Chen,Yinjiya Bao,Yonghang Sun
This paper describes a new type of bending module inspired, in part, by the musculoskeletal structure of the lobster leg joint. The bending module proposed combines enhanced torque output, reconfigurability in assembling, safe compliant actuation, and accurate control on its mechanical performance. In this module, antagonistic soft chambers are enveloped by exoskeleton shells, and the bending angl...
