Exploiting the Morphology of a Shape Memory Spring as the Active Backbone of a Highly Dexterous Tendril Robot (ATBR)
Kayode Sonaike,S. M. Hadi Sadati,Christos Bergeles,Ian D. Walker,Kayode Sonaike,S. M. Hadi Sadati,Christos Bergeles,Ian D. Walker
Tendrils are common stable structures in nature and are used for sensing, actuation, and geometrical stiffness modulation. In this paper, for the first time we exploit the helical geometry of a shape memory alloy (SMA) tendril as a simple to fabricate highly dexterous robotic continuum tentacle that we called Active Tendril-Backbone Robot (ATBR). This is achieved via partial (120 deg) activation o...
