The present disclosure discloses a bearing-type twin-pivot continuum robot, including: an actuating device, used for driving a continuum manipulator through a driving cable such that the continuum manipulator performs a bending motion; a continuum manipulator, connected with the actuating device through the driving cable, the continuum manipulator comprising M sections, adjacent sections being able to be deflected, and the continuum manipulator performing the bending motion under the driving of the actuating device; and a linear slide module, disposed at the bottom of the actuating device, the linear slide module having a predetermined feed slide in a feed direction such that the actuating device performs a feed motion within the predetermined slide. The above continuum robot greatly improves the resistance to torsion of the manipulator by adopting a rigid-compliant coupling mode, and creatively introduces a micro-bearing design that avoids adverse effects due to friction between conventional rigid hinges.

A locking system for a continuum arm robot system, the robot system includes: a continuum arm robot having a manipulatable tip, a passive robot section through which controls for the manipulatable tip, and at least one ferromagnetic collar, and at least one external controllable electromagnetic device which can be activated so that the ferromagnetic section on the continuum arm robot is attracted to the electromagnetic device.

Disclosed is a self-propelled soft robot body, including a tube which is internally and axially provided with a tube cavity, and at least one propelling structure, comprising a first driving unit, a second driving unit and a third driving unit, which are evenly fixed on a peripheral wall of the tube cavity, relative to an axis thereof, and along the axis of the tube; and the first driving unit, the second driving unit and the third driving unit are respectively telescopic along the axis of the tube; at least two support structures, with each two adjacent support structures having at least one propelling structure arranged therebetween, the support structures are fixedly connected with the propelling structure and arranged on the peripheral wall of the tube cavity.

A medical instrument according to the present invention includes an end effector that fulfills a predetermined function, a motor unit that generates power for driving the end effector, a transmission member that is connected to the end effector and the motor unit so as to transmit the power to the end effector, a tension holding portion that has a tension generation portion and a tension pulley which is connected to the tension generation portion and which comes into contact with the transmission member the tension pulley being configured to move such that tension applied to the transmission member in a predetermined magnitude, and a switch that can fix a position of the tension pulley.

A connection plate for a continuum arm robotic, the connection plate having a collar for connecting to a continuum arm robot and a cut out section from one end and which extends to a plurality of apertures that are present within a face of the connection plate. A continuum arm robot including a robotic arm and a connection plate wherein the robotic arm includes a connection plate that connects to the end of the distal end of the continuum arm robot through a collar, the connection plate having a cut out section that extends from one end into a plurality of apertures that the distal end of the tendons passes through.

An actuator pack for a continuum arm robot, the actuator pack including a plurality of actuator pack sections, with each section having a housing and an interface plate, each section further containing a bank consisting of a plurality actuators that are connected to their own respective drive electronics and the actuators being mounted to the housing or the interface plate and having their drive heads exposed through a hole in the interface plate, and wherein the sections of the actuator pack are configured to coupled together in one state.

A soft vine robot includes a main body configured as a tube inverted back inside itself to define a pressure channel, such that when the channel is pressurized, the main body everts, and inverted material of the main body everts and passes out of a tip at a distal end of the main body. A reeling mechanism is controlled by a reeling motor, the reeling mechanism being within the tube and being configured to actively feed the inverted material to provide or assist eversion and to actively retract extended material of the main body back. Control and communications electronics control the reeling motor. T reeling mechanism can include a steering mechanism with a bending axis controlled by a steering motor. By actively supplying eversion or inversion forces in the robot body, the soft vine robot can grow with reduced pressure compared to base reeled robots.

To provide a technology of reducing a difference with respect to a target position of a curvable portion of a continuum robot which is to move forward substantially along a trajectory including a branched trajectory and a space. A continuum robot includes a plurality of curvable portions separately driven by wires, and control units which control positions of a plurality of curvable portions in accordance with a kinematic model. A modification value for modifying the kinematic model based on a target position and a measured position about each of the cases in which the plurality of curvable portions take a plurality of positions having at least one intersection is calculated. Modification uses a modification result in at least one of the plurality of positions as an initial value to modify the kinematic model in another position, and synthesizes the plurality of modification values.

The present disclosure relates to a bionic pneumatic soft gripping device, which comprises a flexible sleeve, a connecting base, a pneumatic artificial muscle, a flexible holder, and a gap tube. The flexible sleeve is an annular jacket-like structure. The flexible holder is a tubular hollow structure having openings at both ends thereof. The pneumatic artificial muscle is wound on the flexible holder. The flexible sleeve is sleeved on the flexible holder connected with the pneumatic artificial muscle through the opening of the flexible sleeve. The pneumatic artificial muscle is connected to the tube joint via a fastening sleeve, and the tube joint is connected to the gap tube. The bionic pneumatic flexible gripping device of the present disclosure has the advantages of large gripping force and compliancy, and can effectively grip objects in various shapes within its gripping size range.

A modular robotic snake-arm assembly is described which is animated principally by an articulated drive shaft that threads the length of the snake-arm. The articulated drive shaft is driven by a motor in the fixed base. One or more clutch mechanisms in each segment couple with the articulated drive shaft so as to cause all snake arms further from the base to reorient in either one or two angles, in either direction. Snake-arm segments can be coupled end-to-end to form a robotic snake arm of great length.