Download PDFOpen PDF in browserMultifunctional Hybrid Module for ManipulatorsEasyChair Preprint no. 81222 pages•Date: May 31, 2022AbstractThis study proposes a novel hybrid soft-rigid module that combines actuation in 3D space, proprioceptive sensing, and controllable variable stiffness. The general-purpose module has major advantages, such as compactness, lightweight, low-cost, and easy fabrication using a conventional 3D printer. The design and experimental characterization are here reported. The serial integration of three modules is finally shown. Keyphrases: Actuation, hybrid soft-rigid, inductive sensor, manipulator, module, proprioceptive sensing, Soft Robotics, variable stiffness
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