This paper describes the development of a multi-DOF (degrees of freedom) flexible robot based on the tongue. The authors focused on the tongue because of its "flexibility" and "soft motion". Motion of this robot is realized mechanically, and flexibility is achieved by covering the mechanism with a flexible structure. This robot consists of three parts: the tip, the body, and the base. In future, it would be applied in medical fields, e.g., for assistance in dysphemia, or in industrial fields, etc.
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TAKANOBU et al. (2004) studied this question.