Articlenpj Robotics2026
CRAFT: a 3D-printed modular design library for task-specific continuum robots.
Article in npj Robotics, 2026. The graph could read no effect estimate from its abstract, so it casts no vote on the map. Not yet cited in PubMed.
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5 authors.
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Abstract
Continuum robots offer safe and adaptive interaction through body compliance, yet this same property often limits their load-bearing capability. Addressing this design tradeoff typically requires application-specific designs with long development cycles. We introduce CRAFT, a 3D-printed modular design library for tendon-driven continuum robots that enables rapid mechanical reconfiguration to achieve task-specific stiffness and morphology. The library comprises six interchangeable modules with distinct stiffness profiles, directional compliance, and degrees of freedom, which can be stacked and reconfigured within minutes using inexpensive components. Each module's behavior under bending, axial, and torsional loading is experimentally characterized. We demonstrate the generality of the approach through three representative robots: a reconfigured long teleoperated probe for aircraft-wing inspection (achieving a 41% reduction in sag), a pipe-crawling robot for confined environments (capable of navigating a 90
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