2000 character limit reached
Simulations and experiments with assemblies of fiber-reinforced soft actuators (2507.10121v1)
Published 14 Jul 2025 in cs.RO
Abstract: Soft continuum arms (SCAs) promise versatile manipulation through mechanical compliance, for assistive devices, agriculture, search applications, or surgery. However, SCAs' real-world use is challenging, partly due to their hard-to-control non-linear behavior. Here, a simulation framework for SCAs modularly assembled out of fiber reinforced elastomeric enclosures (FREEs) is developed and integrated with a video-tracking system for experimental testing and control design.