GummiArm

 

 

The GummiArm: A variable-stiffness and replicable robot arm demonstration showcase

Organiser: Martin Stoelen, University of Plymouth

The GummiArm is a soft, open source, and bio-inspired robotic arm for research, education, and innovation. The design allows researchers across robotics and human motor-control communities to implement models that could not be implemented in traditional stiff robotic arms. It is also ideal for usage in tough real-world applications in service and agriculture. The arm is bio-inspired and emulates the human muscle-tendon system design to provide Variable Stiffness Actuation (VSA). It has agonist-antagonist pairs of servos with composite soft tendons, enabling control over both the movement and the stiffness during actuation. It is also easily replicable and is being built in several research centres around the world. The structural components are printable on low-cost 3D printers, promoting experimentation and rapid development, and both software and hardware are open source: https://mstoelen.github.io/GummiArm/

 GummiArm