2022
Development of a 6 DOF Soft Robotic Manipulator with Integrated Sensing Skin
Shen Treratanakulchai, Enrico Franco, Arnau Garriga-Casanovas, Hu Minghao, Panagiotis Kassanos, Ferdinando Rodriguez y Baena
IROS 2022poster
This paper presents a new 6 DOF soft robotic manipulator intended for colorectal surgery. The manipulator, based on a novel design that employs an inextensible tube to limit axial extension, is shown to maximize the force exerted at its tip and the bending angle, the latter being measured with a sof…