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Finite element method-based kinematics and closed-loop control of soft, continuum manipulators

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Academic year: 2021

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Fig. 1: In this example a tendon is pulled to create the motion of an elastic soft robot
Fig. 2: Tendon actuation. d b and d a on the figure, represent the direction of the tendon before and after the cable guide, respectively, which are used to compute the normal forces at the guides.
Fig. 4: The RobotinoXT by Festo Robotics. (left) The anatomy of the Compact Bionic Handling Assistant
Fig. 5: Visual model of the trunk and the underlying finite element model.
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