Abstract: Bio-inspiration can be used in the development of novel dextrous and energy-efficient manipulators. This paper focuses on planar manipulators inspired by the bird neck, built upon stacking a series of tensegrity X-joints. ...

Abstract: In biological systems, the joints are actuated antagonistically by muscles that can be moved coherently to achieve the desired displacement and coactivated with appropriate forces to vary joint stiffness. Inspired by this, ...

Abstract: This paper discusses stiffness and antagonistic actuation in light-weight cable-driven bio-inspired manipulators suitable for safe interactions. Manipulators under study are built upon arranging in series several tensegrity ...