This letter reports the concept and design of the active-braid, a novel bioinspired continuum manipulator with the ability to contract, extend, and bend in three-dimensional space with varying stiffness. The manipulator utilizes a flexible crossed-link helical array structure as its main supporting body, which is deformed by using two radial actuators and a total of six longitudinal tendons, analogously to the three major types of muscle layers found in muscular hydrostats. The helical array structure ensures that the manipulator behaves similarly to a constant volume structure (expanding while shortening and contracting while elongating). Numerical simulations and experimental prototypes are used in order to evaluate the feasibility of the concept.

Active-Braid, a Bioinspired Continuum Manipulator

Hassan, Taimoor;Cianchetti, Matteo;Mazzolai, Barbara;Laschi, Cecilia;Dario, Paolo
2017-01-01

Abstract

This letter reports the concept and design of the active-braid, a novel bioinspired continuum manipulator with the ability to contract, extend, and bend in three-dimensional space with varying stiffness. The manipulator utilizes a flexible crossed-link helical array structure as its main supporting body, which is deformed by using two radial actuators and a total of six longitudinal tendons, analogously to the three major types of muscle layers found in muscular hydrostats. The helical array structure ensures that the manipulator behaves similarly to a constant volume structure (expanding while shortening and contracting while elongating). Numerical simulations and experimental prototypes are used in order to evaluate the feasibility of the concept.
2017
File in questo prodotto:
Non ci sono file associati a questo prodotto.

I documenti in IRIS sono protetti da copyright e tutti i diritti sono riservati, salvo diversa indicazione.

Utilizza questo identificativo per citare o creare un link a questo documento: https://hdl.handle.net/11382/519568
 Attenzione

Attenzione! I dati visualizzati non sono stati sottoposti a validazione da parte dell'ateneo

Citazioni
  • ???jsp.display-item.citation.pmc??? ND
  • Scopus 17
social impact