Robotic Manipulators for Harsh Environments Based on Rolling Diaphragm Hydrostatic Transmissions

Rolling Diaphragm Hydrostatic Transmissions (RDHTs) represent an innovative approach to robotic actuation, offering significant benefits such as remote placement of actuators and electronics, enhanced low-friction operation, high transparency, and precise force controllability. RDHTs have been successfully implemented in various applications, including collaborative robots, medical systems, and untethered platforms like legged and wearable robots. Moreover, RDHT technology presents a promising opportunity for the development of a new class of robotic systems capable of operating reliably and accurately in harsh environments, including high-temperature, underwater, and radioactive scenarios. In this paper, we review and discuss the potential of RDHTs for enabling robust robotics in extreme environments and present preliminary yet highly promising results from the development of a novel robotic arm designed specifically for these challenging applications.