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. Author manuscript; available in PMC: 2023 Oct 1.
Published in final edited form as: Adv Intell Syst. 2022 Jun 26;4(10):2200085. doi: 10.1002/aisy.202200085

Figure 11:

Figure 11:

Demonstration of bracing to increase stability during object manipulation. Left: A 3-DoF SBA with a suction cup at the tip is connected to a fully soft radial expansion mechanism. Middle: The expansion mechanism is deactivated, so there is no local fixed constraint, and thus the 3-DoF SBA lacks the mechanical leverage to reach and lift the marble. Right: The expansion mechanism braces against a lumen, allowing a suction cup placed at the tip of the SBA to pick up and place the marble.