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

Access information

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

Technical specifications

Bending:Omnidirectional – max 90 deg
Elongation:50%
Operating pressure:0 – 1.5 bar (per single fluidic chamber)
Weight:9 g (per single module)
Power supply:220 V@ 50 Hz
Interface:USB
DoF:Infinite passive – 6 active (actuators)
Time response (pneumatic valves):0.03 sec
Modules can be quickly connected/disconnected for a one/two modules manipulator.:
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This project has received funding from the European Union’s Horizon 2020 research and innovation programme under grant agreement No 730994

Training
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