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November 14, 2015
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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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Cite this Article
De Falco, I., Gerboni, G., Cianchetti, M., Menciassi, A. Design and Fabrication of an Elastomeric Unit for Soft Modular Robots in Minimally Invasive Surgery. J. Vis. Exp. (105), e53118, doi:10.3791/53118 (2015).
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