Multi-Segment Extendable Soft Manipulator Driven by a Pneumatic–Tendon Coupling Mechanism

Continuum robots have garnered significant attention for their high flexibility and adaptability to complex environments. However, achieving the same level of high-precision control as rigid robots remains a significant challenge. This paper introduces an innovative Multi-Segment Extendable Soft Manipulator (MSESM) that employs a pneumatic-tendon hybrid drive mechanism. The design, utilizing off-the-shelf industrial bellows and 3D-printed components, allows the manipulator to achieve an extension ratio of up to 156.85%. By adopting a differential stiffness design, its bending stiffness was increased by approximately 4-5 times, its axial stiffness was increased by approximately 10 times, and its torsional resistance was enhanced, preventing inter-segment coupling during motion. At the control level, this paper proposes a hybrid control method that integrates a Constant Curvature (CC) physical prior with a data-driven neural network. Experimental results show that in tracking rectangular, triangular, and circular trajectories, this hybrid method reduced the average tracking error by 60.43% compared to a purely neural network-based controller, with the error reduction for the rectangular trajectory reaching 74.19%. This research validates a practical and effective approach for creating soft manipulators that successfully merge high flexibility with high-precision control.