Multi-backbone Continuum Mechanisms: Forms and Applications

Abstract

Research on flexible robots prospers in the past decades, possibly due to the consensus that flexible robots might be capable to achieve tasks that are challenging for traditional rigid-linked robots. Flexible robots came into being by gradually introducing more flexible components and deformation patterns: from robots with flexural joints, to continuum robots and soft-bodied robots. Continuum robots consist of continuum mechanisms and their control with actuation and sensing, whose shapes are usually represented by curves. Various forms and applications of a multi-backbone continuum mechanism are presented in this paper. From its basic form, to its general form and the general form’s combinations in various ways, the continuum mechanisms constitute several novel robotic systems such as surgical robots, intra-cavity manipulators, exoskeletons and prosthetic hands, demonstrating superior performances. Following the presented design examples, it is expected that new forms of multi-backbone continuum mechanisms could be designed for new applications in services, healthcare practices and various industries.