Multifunctional Hybrid Module for Manipulators

EasyChair Preprint 8122

Abstract

This study proposes a novel hybrid soft-rigid module that combines actuation in 3D space, proprioceptive sensing, and controllable variable stiffness. The general-purpose module has major advantages, such as compactness, lightweight, low-cost, and easy fabrication using a conventional 3D printer. The design and experimental characterization are here reported. The serial integration of three modules is finally shown.

Keyphrases: Actuation, Soft Robotics, hybrid soft-rigid, inductive sensor, manipulator, module, proprioceptive sensing, variable stiffness

@booklet{EasyChair:8122,
  author    = {Canberk Sozer and Sujit Kumar Sahu and Linda Paterno and Arianna Menciassi},
  title     = {Multifunctional Hybrid Module for Manipulators},
  howpublished = {EasyChair Preprint 8122},
  year      = {EasyChair, 2022}}