3 accepted papers
The use of untethered miniature swimmers is a promising trend, especially in biomedical applications. These swimmers are often operated remotely using a magnetic field commonly generated using fixed coils that can suffer from a lack of compactness and heating issues. The analysis of the swimming cap
Tensegrity mechanisms can offer key features such as compliance and deployability for high compactness. The absence of systematic design methods has however strongly limited their development for manipulation up to now. In this letter, we consider how tensegrity mechanisms can be designed to respect
In this paper, the design of a new variable stiffness spherical joint for MR-compatible robotics is presented. It is based on the use of prestressed cable-driven mechanisms in singular configurations to provide large stiffness variation ranges, including zero stiffness configuration as required by t