Design and Analysis of a Robust, Low-cost, Highly Articulated manipulator enabled by jamming of granular media

@article{Cheng2012DesignAA,
  title={Design and Analysis of a Robust, Low-cost, Highly Articulated manipulator enabled by jamming of granular media},
  author={Nadia Cheng and Maxim B. Lobovsky and Steven J. Keating and Adam M. Setapen and Katy I. Gero and Anette E. Hosoi and Karl Iagnemma},
  journal={2012 IEEE International Conference on Robotics and Automation},
  year={2012},
  pages={4328-4333}
}
Hyper-redundant manipulators can be fragile, expensive, and limited in their flexibility due to the distributed and bulky actuators that are typically used to achieve the precision and degrees of freedom (DOFs) required. Here, a manipulator is proposed that is robust, high-force, low-cost, and highly articulated without employing traditional actuators mounted at the manipulator joints. Rather, local tunable stiffness is coupled with off-board spooler motors and tension cables to achieve complex… CONTINUE READING

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