Monolithic Systems Applications: Fabrication and Validation of a soft Robotic Manipulator

Abstract

There is a growing interest in robots that work alongside humans. However, in the past robots have had to be isolated with safety cages in order to avoid injury to the surroundings due to their rapid movements. These robots have the advantage of being powerful and precise, yet unsuitable for human interaction. On the other hand, nature utilizes inherently safe soft and squishy embodiments such as tissues, stretchable skins, fibers and muscles to yield dexterous motion patterns with large force. Examples range from elephant trunks, octopus arms, snakes etc. The purpose of the REU grant was to create a bio-inspired purely parallel soft pneumatic continuum manipulator with unprecedented functionality.