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

TL;DR

This paper introduces a modular, reconfigurable soft robotic arm with multiple segments, demonstrating significant workspace expansion and analyzing how silicone stiffness affects performance, enabling scalable and adaptable soft robotic systems.

Contribution

It presents a novel multi-segment, modular design for soft robotic arms with independent control and reconfigurability, expanding workspace and analyzing stiffness trade-offs.

Findings

Three-segment configuration increases workspace volume by 38.9 times.

Softer silicone enhances bending flexibility.

Stiffer silicone improves load-bearing stability.

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.