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Journal / Bioengineering / Design and Fabrication of an Elastomeric Unit for …
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Bioengineering

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Design and Fabrication of an Elastomeric Unit for Soft Modular Robots in Minimally Invasive Surgery
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Design and Fabrication of an Elastomeric Unit for Soft Modular Robots in Minimally Invasive Surgery

Article DOI: 10.3791/53118-v • 11:06 min • November 14th, 2015
November 14th, 2015 •
1, 1, 1, 1
1The BioRobotics Institute, Scuola Superiore Sant'Anna

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Summary
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This paper describes the design and fabrication of a soft unit for surgical manipulators. The base module includes three flexible fluidic actuators to achieve omnidirectional bending and elongation, and a granular jamming-based mechanism to enable stiffness control. A complete mechanical characterization is also reported.

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Soft Modular Robots Elastomeric Unit Minimally Invasive Surgery Soft Robotics Dexterous Manipulator Octopus Arm Modular Approach Fabrication Process Casting Silicone Flexible Pneumatic Actuators Omni-directional Bending Granular Jamming-based Mechanism Stiffness Variation
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