Variable Stiffness and Antagonist Actuation for Cable-Driven Manipulators Inspired by the Bird Neck

Abstract This paper discusses stiffness and antagonistic actuation in light-weight cable-driven bio-inspired manipulators suitable for safe interactions. Manipulators under study are built upon arranging series several tensegrity joints, called “modules.” A comparative of modules revealed that the X module, contrast to based on pivots, allows one increase joint by increasing input forces like during muscle coactivation. For a planar manipulator with N modules, schemes 2N + 1 cables proposed compared. It is shown cable scheme controlling both configuration satisfactorily. As compared active cables, each side higher required achieve configuration. However, reasonable solution reducing moving masses cost.