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A Compliant Telescopic Limb with Anisotropic Stiffness

Research output: Contribution to journalArticle

Original languageEnglish
Article number80
Number of pages8
JournalFrontiers in Robotics and AI
StatePublished - 1 Feb 2017


Soft limbs with anisotropic stiffness are common in nature and enable animals to solve a variety of tasks, including locomotion and manipulation. This mixture of hardness and softness enables animals to efficiently control the unpredictable contact forces that occur while performing such asks. A challenge for soft robotics is to create artificial limbs that mimic natural mixtures of hardness and softness for use as a building block for soft, adaptable robots. This article presents the design of a novel pneumatic limb module with adjustable length and anisotropic stiffness. The artificial limb is designed with a rigid telescopic endoskeleton inside a rubber bellow, which we show is able to resist buckling, while remaining externally soft. Finally, we present the design of a hexapod walker based on the limb units.

Research areas

  • Soft-Robotics, Variable-length, Pneumatic, Robosoft, Anisotropic-Stiffness

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    License: CC BY


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