@inproceedings{43c87a4122724a528136aae8650d7f24,
title = "A novel continuum-style robot with multilayer compliant modules",
abstract = "This paper introduces a novel continuum-style robot that integrates multiple layers of compliant modules. Its essential features lie in that its bending is not based on natural compliance of a continuous backbone element or soft skeletal elements but instead is based on the compliance of each structured planar module. This structure provides several important advantages. First, it demonstrates a large linear bending motion, whilst avoiding joint friction. Second, its contraction and bending motion are decoupled. Third, it possesses ideal back-drivability and a low hysteresis. We further provide an analytical method to study the compliance characteristics of the planar module and derive the statics and kinematics of the robot. The paper provides an overview of experiments validating the design and analysis.",
author = "Peng Qi and Chen Qiu and Hongbin Liu and Dai, {Jian S.} and Lakmal Seneviratne and Kaspar Althoefer",
note = "Publisher Copyright: {\textcopyright} 2014 IEEE.; 2014 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2014 ; Conference date: 14-09-2014 Through 18-09-2014",
year = "2014",
month = oct,
day = "31",
doi = "10.1109/IROS.2014.6943002",
language = "British English",
series = "IEEE International Conference on Intelligent Robots and Systems",
publisher = "Institute of Electrical and Electronics Engineers Inc.",
pages = "3175--3180",
booktitle = "IROS 2014 Conference Digest - IEEE/RSJ International Conference on Intelligent Robots and Systems",
address = "United States",
}