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Related Experiment Video

Updated: Aug 14, 2025

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

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Published on: November 14, 2015

A Preprogrammable Continuum Robot Inspired by Elephant Trunk for Dexterous Manipulation.

Jie Zhang¹, You Li¹, Ziyun Kan²

¹School of Aeronautics and Astronautics, Sun Yat-Sen University, Shenzhen, P.R. China.

|January 11, 2023

Summary

This study introduces a novel modular tensegrity structure for continuum robots, inspired by elephant trunks. This design allows for preprogrammable stiffness, enabling robots to navigate complex, curved environments efficiently.

Keywords:

cable-driven continuum robot modular tensegrity structure morphing preprogrammable stiffness varying curvatures

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Area of Science:

Robotics
Mechanical Engineering
Materials Science

Background:

Continuum robots with hyper-redundant backbones offer advantages over traditional robots in unstructured environments.
Existing continuum robots have limitations due to homogeneous backbones, restricting their adaptability to complex geometries.

Purpose of the Study:

To develop a modular tensegrity structure with preprogrammable stiffness for continuum robots, inspired by elephant trunks.
To enable continuum robots to navigate environments with varying curvatures and achieve conformal interactions.

Main Methods:

Developed a modular tensegrity structure with adjustable spring stiffness.
Derived a mechanical model using a finite element method for predicting robot configuration.
Fabricated a 12-module continuum robot prototype.

Main Results:

Theoretical predictions showed curvature regulation via preprogrammed spring stiffness.
The fabricated robot demonstrated deformation patterns adaptable to channels with varying curvatures.
The system simplified actuation and control requirements through inherent intelligence.

Conclusions:

The customizable modular tensegrity design offers an effective route for efficient robotic interactions in complex environments.
This approach enhances the capabilities of continuum robots for applications requiring adaptable and conformal movement.