Design of Lightweight and Extensible Tendon-Driven Continuum Robots using Origami Patterns
Why this work is in the frame
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Bibliographic record
Abstract
Tendon-driven continuum robots (TDCR) have been researched to utilize their slender structure, compliance, large workspace, and follow-the-leader deployment capabilities. Improving the performances of TDCR by increasing its length and extensibility is however challenging due to the need of guiding the tendons along the backbone. A standard design uses rigid spacer disks, which mass may cause stability issues in the case of robots with long length. In this paper, we propose a design of lightweight and extensible TDCR taking advantage of extensible paper-based origami structures to guide the tendons along a superelastic nitinol backbone. The four tendons and the backbone control the three degrees of freedom of the robot, yaw, pitch, and axial translation. The robot is composed of multi-segments, and the manufacturing process with water-based ink printing provides fast, easily customizable, and scalable fabrication of the robots. The design allows for a reduction of up to 95% of the robot mass with respect to a standard design of TDCR. The prototype demonstrates the extension ratio of more than 10 times and ±167 degrees yaw/pitch angle with 21.9 g weight. The proposed robot design can be applied for search and rescue missions and minimally invasive surgical applications.
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Full frame distilled prediction
Teacher imitationNot calibrated prevalence, not ground truth. Human validation pending. Learned from the 10,348 direct Codex labels and 10,348 direct Gemma labels. Candidate is the union of thresholded teacher heads; consensus is their intersection. These outputs are machine_predicted_unvalidated and are not human labels or direct frontier model labels.
Codex and Gemma teacher scores by category
| Category | Codex | Gemma |
|---|---|---|
| Metaresearch | 0.000 | 0.000 |
| Meta-epidemiology (narrow) | 0.000 | 0.000 |
| Meta-epidemiology (broad) | 0.000 | 0.000 |
| Bibliometrics | 0.000 | 0.000 |
| Science and technology studies | 0.000 | 0.000 |
| Scholarly communication | 0.000 | 0.000 |
| Open science | 0.000 | 0.000 |
| Research integrity | 0.000 | 0.000 |
| Insufficient payload (model declined to judge) | 0.000 | 0.000 |
Machine scores (provisional)
The two teacher heads of the student model, read on this work. A score orders the frame for review; it never asserts a category, and the validation status ships verbatim with every row.
Baseline scores from an immature model (maturity gate not passed, 7 training rounds). Scores rank; they never assert a category.
score_only:v0-immature-baseline · verbatim from the scoring run: score_only means the number may rank works, and no category label ships from it