Zhijun Sun

A Soft Inflatable Robot Driven by Hydraulic Folded Pouch Actuators for Minimally Invasive Surgery

This paper presents a soft, inflatable, cable-driven parallel robot (CDPR) for Minimally Invasive Surgery. The CDPR has 5 degrees of freedom and is driven by 6 cables and 6 hydraulic folded actuators. The actuator utilizes a folded chamber to pull a cable. The robot comprises a soft hexagonal variab