SHAFT: A Slack-Compensating, Helical-Buckling-Attenuating Flexible-Shaft Transmission for Lightweight Multi-DoF Manipulation

Tomoya Takahashi, Moses Gladson Selvamuthu, Richiro Tadakuma +1

Lightweight and slim manipulators enable safe operation in human living environments. Proximal actuation using remote transmission mechanisms, such as wire-driven or Bowden cables,…