ArticleSoft robotics2018
Novel Design of a Soft Lightweight Pneumatic Continuum Robot Arm with Decoupled Variable Stiffness and Positioning.
Article in Soft robotics, 2018. The graph could read no effect estimate from its abstract, so it casts no vote on the map. Cited by 19 papers, 1 of them a synthesis that pooled it.
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Who cites it
19 citing papers in PubMed, 1 synthesis or guideline pooled it.
- Speech-touch integration for affective human-robot interaction: a scoping review.Frontiers in robotics and AI · 2026Pooled it
- Muscle coactivation-inspired stiffness-driven control strategy for antagonistic soft robots.Science advances · 2026Article
- Bioinspired growable humanoid robot with bone-mimetic linkages for versatile mobility.Science advances · 2026Article
- Origami exoskeletons for enhanced soft robotic manipulation.Science advances · 2025Article
- Design and Optimization of a Tapered Magnetic Soft Continuum Robot for Enhanced Navigation in Cerebral Vasculature.Micromachines · 2025Article
- A variable stiffness robotically steerable guidewire for endovascular interventions.npj Robotics · 2025Article
- Article
- Continuous and low-carbon production of biomass flash graphene.Nature communications · 2024Article
- A Pneumatic Particle-Blocking Variable-Stiffness Actuator.Sensors (Basel, Switzerland) · 2023Article
- Continuum Robots: From Conventional to Customized Performance Indicators.Biomimetics (Basel, Switzerland) · 2023Article
- Modeling of and Experimenting with Concentric Tube Robots: Considering Clearance, Friction and Torsion.Sensors (Basel, Switzerland) · 2023Article
- Article
- Aerial Continuum Manipulation: A New Platform for Compliant Aerial Manipulation.Frontiers in robotics and AI · 2022Article
- Bending Properties of an Extensile Fluidic Artificial Muscle.Frontiers in robotics and AI · 2022Article
- Design and testing of a soft parallel robot based on pneumatic artificial muscles for wrist rehabilitation.Scientific reports · 2021Article
- Performance Metrics for Fluidic Soft Robot Rotational Actuators.Frontiers in robotics and AI · 2021Article
- An Underwater Robotic Manipulator with Soft Bladders and Compact Depth-Independent Actuation.Soft robotics · 2020Article
- Soft Origami Optical-Sensing Actuator for Underwater Manipulation.Frontiers in robotics and AI · 2020Article
- Controlling of Pneumatic Muscle Actuator Systems by Parallel Structure of Neural Network and Proportional Controllers (PNNP).Frontiers in robotics and AI · 2020Article
Corrections and comments
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Authors and funding
6 authors.
Funding
No grant is acknowledged in the PubMed record.
Abstract
Soft robot arms possess unique capabilities when it comes to adaptability, flexibility, and dexterity. In addition, soft systems that are pneumatically actuated can claim high power-to-weight ratio. One of the main drawbacks of pneumatically actuated soft arms is that their stiffness cannot be varied independently from their end-effector position in space. The novel robot arm physical design presented in this article successfully decouples its end-effector positioning from its stiffness. An experimental characterization of this ability is coupled with a mathematical analysis. The arm combines the light weight, high payload to weight ratio and robustness of pneumatic actuation with the adaptability and versatility of variable stiffness. Light weight is a vital component of the inherent safety approach to physical human-robot interaction. To characterize the arm, a neural network analysis of the curvature of the arm for different input pressures is performed. The curvature-pressure relationship is also characterized experimentally.
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Registered trials
Read under generation 80e0d062 · epoch 390. Bibliography from PubMed, PubMed Central and OpenAlex; grants from NIH RePORTER; trial links from ClinicalTrials.gov; estimates, votes and beliefs from the OpenQuestion graph.