2026
A Phase-Change-Material-Based Variable Stiffness Sheath Inspired by a Multi-Layer Wave Spring Structure for Flexible Upper Gastrointestinal Endoscopic Robots
ICRA 2026poster
Continuum robots employed in flexible gastrointestinal endoscopy require the capability of transitioning between the flexible and the rigid states. Phase-change-material-based variable stiffness (VS) methods exhibit a significant stiffness change ratio but are typically time-consuming. Besides, thes…