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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:
  • 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

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

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
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