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Slim and strong hyper-redundant manipulators with long reaches can perform a variety of intra-cavity tasks in confined spaces. Benefiting from a newly developed continuum mechanism and its actuation scheme, this paper proposes the design of a hyper-redundant continuum manipulator with 12 DoFs (Degrees of Freedom). With a structure synthesized in an enumerative manner, the manipulator is expected to...
It is known that human controls muscles for hand poses in a coordinated manner and the coordination is referred to as a postural synergy. Using postural synergies, dexterous grasping tasks could be accomplished on a prosthetic hand via only a few (usually two) control inputs. Instead of implementing postural synergies digitally, this paper presents the design of a simple continuum mechanism for implementing...
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