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The authors focus on the possibility to adapt technologies and basic concepts of Soft Robotics for building a new generation of soft modular manipulator for assistive robotics that can safely come into direct contact with humans in a challenging scenario which is the bathing activity. This paper starts with the presentation of the concept of the modular manipulator and then moves toward a detailed description of one of its modules. The idea is to develop a manipulator which counts on an actuation system based on McKibben-based flexible fluidic actuators combined with motor driven cables, by addressing technological issues related to effectiveness and reliability. Shortening, elongation and bending capabilities have been assessed by testing different patterns of activations. These measures allowed the estimation of the single module performances and its workspace. These outcomes represent the starting point for the development of a novel modular manipulator to be used as a shower arm for bathing activities.
Manti et al. (Wed,) studied this question.