#  Design 

 



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This project consists of the development of a soft manipulator based on antagonistic actuation capable of bending and extension with a certain degree of stiffness control. It makes use of a hybrid actuation system composed of pneumatic and tendon-based actuators.

 ![pic_complete-assembly-without-effector](/sites/g/files/omnuum4601/files/2024-11/pic_complete-assembly-without-effector.png)

 

This section presents the design of each part that compose the robot, while providing the operation principles that led to that particular design.

### Bibliography

Robinson et al. (1999) [Continuum robots-a state of the art](/publications/continuum-robots-state-art?admin_panel=1)

Walker et al. (2013) [Continuous backbone “continuum” robot manipulators](/publications/continuous-backbone-%E2%80%9Ccontinuum%E2%80%9D-robot-manipulators?admin_panel=1)

McMahan et al. (2005) [Design and implementation of a multi-section continuum robot: Air-Octor](/publications/design-and-implementation-multi-section-continuum-robot-air-octor?admin_panel=1)

Neppalli et al. (2007) [Design, construction, and analysis of a continuum robot](/publications/design-construction-and-analysis-continuum-robot?admin_panel=1)

Bosman et al. (2015) [Domain decomposition approach for FEM quasistatic modeling and control of Continuum Robots with rigid vertebras](/publications/domain-decomposition-approach-fem-quasistatic-modeling-and-control?admin_panel=1)

Duriez, et al. (2008) [Contact skinning](/publications/contact-skinning?admin_panel=1)

Duriez et al. (2013) [Control of elastic soft robots based on real-time finite element method](/publications/control-elastic-soft-robots-based-real-time-finite-element-method?admin_panel=1)

### Contributors

Thor Bieze

Frédérick Largillière

Sandra Hage Chehade

Mario Sanz Lopez

Christian Duriez