#  Fabrication 

 



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The steps for obtaining a multi-module manipulator are:

1. Fabrication of the single modules;
2. Fabrication of custom membranes for managing the granular jamming;
3. Thermoforming of the sheath;
4. Integration of all components.

Each step is in details described in the next sections.

The final result is the manipulator shown in the following movie:

### Contributors

Iris De Falco

### Bibliography

Cianchetti et al. (2013) [STIFF-FLOP Surgical Manipulator: mechanical design and experimental characterization of the single module. ](/publications/stiff-flop-surgical-manipulator-mechanical-design-and-experimental)

De Falco et al. (2014) [A soft and controllable stiffness manipulator for minimally invasive surgery: preliminary characterization of the modular design](/publications/soft-and-controllable-stiffness-manipulator-minimally-invasive-surgery).

De Falco et al. (2014) [STIFF-FLOP surgical manipulator: design and preliminary motion evaluation*.*](/publications/stiff-flop-surgical-manipulator-design-and-preliminary-motion-evaluation)

De Falco et al. (2015) [Design and fabrication of an elastomeric unit for soft modular robots in minimally invasive surgery.](/publications/design-and-fabrication-elastomeric-unit-soft-modular-robots-minimally)

Ranzani et al. (2013) [A modular soft manipulator with variable stiffness.](/publications/modular-soft-manipulator-variable-stiffness)

Elsayed et al. (2014) [Finite Element Analysis and Design Optimization of a Pneumatically Actuating Silicone Module for Robotic Surgery Applications.](/publications/finite-element-analysis-and-design-optimization-pneumatically-actuating-0)

L. Vyas et al. (2011) [Flexible Robotics.](/publications/flexible-robotics)

Laschi et al. (2014) [Soft Robotics: new perspectives for robot bodyware and control.](/publications/soft-robotics-new-perspectives-robot-bodyware-and-control)

Cheng et al. (2012) [Design and Analysis of a Robust, Low-cost, Highly Articulated Manipulator Enabled by Jamming of Granular Media.](/publications/design-and-analysis-robust-low-cost-highly-articulated-manipulator-enabled)

Allen et al. (2014) [Robotic Granular Jamming: Does the Membrane Matter?](/publications/robotic-granular-jamming-does-membrane-matter)