Yoshiharu Iwata

Static Analysis and Modeling of a Trunk-Like Robot Capable of Adjustable Multi-Turn Helical Deformation

Current trunk-like continuum robots face limitations in actuator capabilities, hindering the realization of adjustable multi-turn helical deformations. In our previous research [1], [2], we proposed the Twisted String and Spiral Hose (TSSH) mechanism, which utilizes both the tensile and torsional fo