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Design and evaluation of a continuum robot with extendable balloons

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Academic year: 2020

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Figure

Figure 1. A robot navigating through an unstructured environment,serving a screening procedure.
Figure 2. Schematic representation of the robot and the inflation process. (a) Uninflated robot in the initial condition, (b) inflated robot.
Figure 5. Developed prototype and experimental setup.
Figure 8. Elongation (a) and the pressure vs. elongation (b) ofa single balloon inflated with three different duty cycles of thesolenoid valves.
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