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Chapters
- 00:05Title
- 01:20Silicone Preparation
- 01:59Fabrication of the Siliconic Module
- 03:32Insertion of the Tubes
- 04:11Fabrication of the Crimped Braided Sheath
- 05:10Integration of the External Sheath
- 06:25Fabrication of the Granular Jamming Membrane
- 07:22Insertion of the Granular Jamming Membrane
- 09:00Results: Three Chamber Siliconic System Provides Omnidirectional Bending and Elongation
- 10:08Conclusion
This paper describes the design and fabrication of a soft unit for surgical manipulators. The base module includes three flexible fluidic actuators to achieve omnidirectional bending and elongation, and a granular jamming-based mechanism to enable stiffness control. A complete mechanical characterization is also reported.
