A Novel Modular Cable-Driven Soft Robotic Arm with Multi-Segment Reconfigurability

• URL: http://arxiv.org/abs/2603.02468v2
• Date: Wed, 04 Mar 2026 12:54:38 GMT
• Title: A Novel Modular Cable-Driven Soft Robotic Arm with Multi-Segment Reconfigurability
• Abstract summary: This paper presents a novel, modular, cable-driven soft robotic arm featuring multi-segment reconfigurability.<n>The proposed architecture enables a stackable system with independent segment control.<n>The system is fabricated from soft silicone material and incorporates embedded tendon-routing channels with a protective dual-helical tendon structure.
• Score: 8.05713215230608
• License: http://creativecommons.org/licenses/by/4.0/
• Abstract: This paper presents a novel, modular, cable-driven soft robotic arm featuring multi-segment reconfigurability. The proposed architecture enables a stackable system with independent segment control, allowing scalable adaptation to diverse structural and application requirements. The system is fabricated from soft silicone material and incorporates embedded tendon-routing channels with a protective dual-helical tendon structure. Experimental results showed that modular stacking substantially expanded the reachable workspace: relative to the single-segment arm, the three-segment configuration achieved up to a 13-fold increase in planar workspace area and a 38.9-fold increase in workspace volume. Furthermore, this study investigated the effect of silicone stiffness on actuator performance. The results revealed a clear trade-off between compliance and stiffness: softer silicone improved bending flexibility, while stiffer silicone improved structural rigidity and load-bearing stability. These results highlight the potential of stiffness tuning to balance compliance and strength for configuring scalable, reconfigurable soft robotic arms.

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