A bio-inspired tensegrity manipulator with multi-DOF, structurally compliant joints

@article{Lessard2016ABT,
  title={A bio-inspired tensegrity manipulator with multi-DOF, structurally compliant joints},
  author={Steven Lessard and Dennis Castro and William Asper and Shaurya Deep Chopra and Leya Breanna Baltaxe-Admony and Mircea Teodorescu and Vytas SunSpiral and Adrian K. Agogino},
  journal={2016 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)},
  year={2016},
  pages={5515-5520}
}
Most traditional robotic mechanisms feature inelastic joints that are unable to robustly handle large deformations and off-axis moments. [] Key Method Our solutions feature modular tensegrity structures that function similarly to the human elbow and the human shoulder when connected. Like their biological counterparts, the proposed robotic joints are flexible and comply with unanticipated forces.

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