HomeRobotic Database - Robotic platform | TERRINet

Image STIFF-FLOP soft manipulator

STIFF-FLOP soft manipulator

Modular soft manipulator with high dexterity and intrinsic safety. The manipulator is based on a modular approach and each module is 60 mm long and 14 mm in diameter. It is able to implement omnidirectional bending and elongation when pressurized (pressure range: 0 – 1.5 bar).The basic version of the manipulator is composed of two modules, completely based on elastomers (silicones) and some ABS parts for connection. On the tip, the system can lodge a micro camera, a gripper or an ablator (all tested)

Key features:
  • Safe interaction with body parts or delicate objects
  • Modular
  • Contraction, elongation, omnidirectional bending
  • Multipurpose platform
Possible applications:
  • Endoscopic/Surgical robotics
  • Controllable overtube structure for inserting and guiding flexible tools
  • Soft robotic platform for testing control algorithms

Technical specifications

Modules can be quickly connected/disconnected for a one/two modules manipulator.:
DoF:Infinite passive – 6 active (actuators)
Time response (pneumatic valves):0.03 sec
Interface:USB
Power supply:220 V@ 50 Hz
Weight:9 g (per single module)
Operating pressure:0 – 1.5 bar (per single fluidic chamber)
Bending:Omnidirectional – max 90 deg
Elongation:50%

Access information

Corresponding infrastructureSchool of Advanced Studies Sant'Anna
The BioRobotics Institute
LocationViale Rinaldo Piaggio, 34 56025 Pontedera PI, Italy
Unit of accessWorking day