A continuum manipulator made of interlocking fibers

Matthew S. Moses, Michael D.M. Kutzer, Hans Ma, Mehran Armand

Research output: Chapter in Book/Report/Conference proceedingConference contribution

Abstract

A new type of continuum manipulator is presented, in which the body of the device is made up of identical, repeated interlocking fibers. A working prototype is demonstrated. Basic models describing the kinematics and mechanical properties of the device are developed, and their predictions are compared with the performance of the physical prototype. Advantages of the interlocking design include improved strength due to better load distribution, controllable stiffness, and a large open lumen.

Original languageEnglish (US)
Title of host publication2013 IEEE International Conference on Robotics and Automation, ICRA 2013
Pages4008-4015
Number of pages8
DOIs
StatePublished - Nov 14 2013
Event2013 IEEE International Conference on Robotics and Automation, ICRA 2013 - Karlsruhe, Germany
Duration: May 6 2013May 10 2013

Publication series

NameProceedings - IEEE International Conference on Robotics and Automation
ISSN (Print)1050-4729

Other

Other2013 IEEE International Conference on Robotics and Automation, ICRA 2013
CountryGermany
CityKarlsruhe
Period5/6/135/10/13

ASJC Scopus subject areas

  • Software
  • Control and Systems Engineering
  • Artificial Intelligence
  • Electrical and Electronic Engineering

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  • Cite this

    Moses, M. S., Kutzer, M. D. M., Ma, H., & Armand, M. (2013). A continuum manipulator made of interlocking fibers. In 2013 IEEE International Conference on Robotics and Automation, ICRA 2013 (pp. 4008-4015). [6631142] (Proceedings - IEEE International Conference on Robotics and Automation). https://doi.org/10.1109/ICRA.2013.6631142