2020
A bio-inspired 3-DOF light-weight manipulator with tensegrity X-joints
Benjamin Fasquelle, Matthieu Furet, Parag Khanna, Damien Chablat, Christine Chevallereau, Philippe Wenger
ICRA 2020poster
This paper proposes a new kind of light-weight manipulators suitable for safe interactions. The proposed manipulators use anti-parallelogram joints in series, referred to as X-joints. Each X-joint is remotely actuated with cables and springs in parallel, thus realizing a tensegrity one-degree-of-fre…