Sujit Kumar Sahu

Robotic Modules for a Continuum Manipulator With Variable Stiffness Joints

This study presents a novel robotic module that combines rigid, rigidbut compliant,andsoft components toenable actuation, proprioceptive sensing, and variable stiffness. Three spring-reinforced soft actuators are employed for positioning the module in the 3D space by exploiting a ball joint as rotat