Soft and Stiffness-controllable Robotics Solutions for Minimally Invasive Surgery:

摘要

In Chapter 1 all the suitable technologies have been surveyed and a direct comparison underlined how fluidic technologies have the best characteristics to meet the application scenario. In particular, flexible fluidic actuators have been identified as the most promising technology for providing omnidirectional bending and elongation, while granular jamming can represent a valid solution to implement variable stiffness features. In this chapter, we report the design of the single module, the strategy for integrating more modules, the fabrication and characterization of a 2-module manipulator.