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 ...

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. ...