Design, Implementation, and Kinematics of a Twisting Robot Continuum Arm Inspired by Human Forearm Movements

In this article, a soft robot arm that has the ability to twist in two directions is designed. This continuum inspired by twisting movements of human upper limb. novel arm, contractor pneumatic muscle actuators (PMA) are used parallel, and self-bending contraction actuator (SBCA) laid between them establish movement. The proposed additional features, such as contract bend multiple directions. kinematics for presented describe position distal end centre according dimensions positions bending angle SBCA different pressurized conditions. Then, rotation behaviour controlled high precision controller system.