A Novel Modular Cable-Driven Soft Robotic Arm with Multi-Segment Reconfigurability
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.
Cite
@article{arxiv.2603.02468,
title = {A Novel Modular Cable-Driven Soft Robotic Arm with Multi-Segment Reconfigurability},
author = {Moeen Ul Islam and Cheng Ouyang and Xinda Qi and Azlan Zahid and Xiaobo Tan and Dong Chen},
journal= {arXiv preprint arXiv:2603.02468},
year = {2026}
}
Comments
6 pages, 8 figures