A Computational Approach for Internal Tendon Routing Channels in a Tendon-Driven Continuum Joint

Area of Science:

• Robotics
• Mechanical Engineering
• Materials Science

Background:

• Tendon-driven continuum soft robots offer promising applications but face challenges with tendon routing.
• Existing methods like internal Bowden sheaths cause friction, while external routing risks tendon damage.
• These issues limit the robots' performance and workspace.

Purpose of the Study:

• To develop a new model-based method for designing integrated tendon channels in continuum soft robots.
• To establish a manufacturing process for these novel tendon channels.
• To demonstrate the effectiveness of the proposed method through a prototype and experimental validation.

Main Methods:

• A model-based design approach was employed to compute tendon channels within the continuum structure.
• Channels were eroded into the continuum to ensure tendons move without interacting with the structure.
• A continuum joint module prototype was manufactured and tested.

Main Results:

• The integrated tendon channels effectively eliminated friction and interference issues.
• The designed continuum joint module achieved roll-pitch-yaw motions with a large workspace.
• Experimental validation confirmed the system's capabilities, including walking experiments on the ANYmal robot.

Conclusions:

• The proposed model-based design method for integrated tendon channels is a significant advancement in soft robotics.
• This approach enhances the performance, control, and workspace of tendon-driven continuum robots.
• The developed method and prototype pave the way for more robust and versatile soft robotic systems.