Design of a variable stiffness flexible manipulator with composite granular jamming and membrane coupling

@article{Jiang2012DesignOA,
  title={Design of a variable stiffness flexible manipulator with composite granular jamming and membrane coupling},
  author={Allen Jiang and Georgios Xynogalas and Prokar Dasgupta and Kaspar Althoefer and Thrishantha Nanayakkara},
  journal={2012 IEEE/RSJ International Conference on Intelligent Robots and Systems},
  year={2012},
  pages={2922-2927}
}
Robotic manipulators for minimally invasive surgeries have traditionally been rigid, with a steerable end effector. While the rigidity of manipulators improve precision and controllability, it limits reachability and dexterity in constrained environments. Soft manipulators with controllable stiffness on the other hand, can be deployed in single port or natural orifice surgical applications to reach a wide range of areas inside the body, while being able to passively adapt to uncertain external… CONTINUE READING
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