Continuum Inspired Manipulator

Design & Mechanism

• Spherical Continuum Spine: Built using stacked, upcycled plastic bulb diffusers that roll against each other for smooth, multi-directional bending.
• Central Auto-Return: A central steel tension spring maintains alignment and automatically straightens the arm when tension is released.
• Compliant PET Gripper: Crafted from a cut water bottle top, utilizing the plastic's natural elastic memory to create a self-opening, single-tendon 3-finger claw.
• Tendon Routing: High-strength thread running through perimeter guides for spatial control.

Performance & Upgrades

Tested Capabilities:
Successfully demonstrated multi-axis bending, object acquisition, lifting, spatial transfer, and targeted release of a container into a bin using manual pull threads.

Future Motorized Upgrades:

• Replace manual pull threads with 3–4 high-torque servos (e.g., MG996R) on spool pulleys under the base.
• Interface with an Arduino/ESP32 and a dual-axis analog joystick.