Spine Inspired Tensegrity Based Continuum Robot Capable of Deflection and Wide-Angle Torsion

Continuum robots (CRs) are dexterous to fit in narrow or unstructured spaces and thus have attracted much attention in special applications. Inspired by human spine anatomy, a tensegrity-based CR capable of body deflection and end torsion is presented in this paper. In each tensegrity module, additional oblique tension units significantly improve the body's bending stiffness, making the continuum more compact. Given the difficulty in the torsion motion of a tensegrity joint, a torsion shaft driven by coupling cables is installed at the end of the CR, so that the torsion amplitude reaches. Furthermore, the torsion is totally uncoupled with other motions. The performance of the CR is demonstrated through a series of tasks: bolt insertion, screwing in a bolt and pulling out a stick.