Related Experiment Video
Updated: Nov 19, 2025
11:06
Design and Fabrication of an Elastomeric Unit for Soft Modular Robots in Minimally Invasive Surgery
Published on: November 14, 2015
9.2K
Toward a Variable Stiffness Surgical Manipulator Based on Fiber Jamming Transition.
Margherita Brancadoro1, Mariangela Manti1, Fabrizio Grani1
1The BioRobotics Institute, Scuola Superiore Sant'Anna, Pisa, Italy.
Frontiers in Robotics and AI
|January 27, 2021
Summary
This study introduces a novel fiber jamming system for soft robotic manipulators, enhancing stability and force transmission for applications like minimally invasive surgery. The new design improves dexterity and variable stiffness in slender soft structures.
Area of Science:
- Robotics
- Materials Science
- Surgical Technology
Background:
- Soft robots offer new capabilities beyond rigid robots, particularly for minimally invasive surgery.
- The STFF-FLOP soft manipulator was previously developed for endoscopic tools.
Purpose of the Study:
- To present a novel variable stiffness system for soft robotic manipulators.
- To enhance the stability and force transmission of soft endoscopic tools.
Main Methods:
- A new stiffening system based on fiber jamming transition was designed and embedded into the STIFF-FLOP manipulator.
- Two new versions of the module were created and evaluated for dexterity and variable stiffness.
Main Results:
- The fiber jamming transition effectively provides variable stiffness in slender soft structures.
- The redesigned modules demonstrated increased stability and potential for higher force transmission.
- While no single optimization rule emerged, the approach proved effective.
Conclusions:
- Fiber jamming transition is a viable technology for achieving variable stiffness in soft robotic structures.
- This innovation expands the applicability of soft manipulators in fields like minimally invasive surgery.
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