A Preprogrammable Continuum Robot Inspired by Elephant Trunk for Dexterous Manipulation

Cable-driven continuum robots with hyper-redundant deformable backbones show great promise in applications, such as inspection in unstructured environments, where traditional rigid robots with discrete links and joints fail to operate. However, the motion of existing continuum robots is still constrained by their homogeneous backbones, and limited to environments with modest geometrical complexity. Here, inspired by highly deformable elephant trunks, we presented a modular tensegrity structure with pre-programmable stiffness for continuum robots. Then, we derived a mechanical model based on a positional formulation finite element method for predicting the configuration of the structure in different deformation scenarios. Theoretical predictions revealed that the curvature of each segment could be regulated by pre-programming their spring stiffness. Hence, our customizable design could offer an effective route for efficient robotic interactions. We further fabricated a continuum robot consisting of 12 modules, and showcased its deformation patterns under multiple scenarios. By regulating the distribution of spring stiffness, our robot could move through channels with varying curvatures, exhibiting its potential for applications where varying curvature, conformal and efficient interactions are needed. Leveraging the inherent intelligence, this robotic system could simplify the complexity of the required actuation and control systems.

"This is the accepted version of the following article: Zhang, J., Li,Y., Kan, Z., Yuan, Q., Rajabi, H., Wu, Z., Peng, H., Wu, J. (2023) A Preprogrammable Continuum Robot Inspired by Elephant Trunk for Dexterous Manipulation, Soft Robotics, DOI: 10.1089/soro.2022.0048, which has now been formally published in final form at Soft Robotics at https://doi.org/10.1089/soro.2022.0048. This original submission version of the article may be used for non-commercial purposes in accordance with the Mary Ann Liebert, Inc., publishers’ self-archiving terms and conditions."