Maximum Bending Angle Research Articles

Synthesis, characterization, and photoinduced deformation properties of a series of azobenzene-containing poly(arylene ether)s

The photoinduced deformation properties in azobenzene-containing polymers can convert light energy into mechanical energy. At present, there are few types of photoinduced deformable polymers based on azobenzene-containing high performance polymers, and new types of high performance azobenzene-containing polymers need to be developed. Here, a series of azobenzene-containing poly (arylene ether)s with various azobenzene contents were synthesized. These azobenzene-containing polymers showed high glass transition temperatures and high thermal stabilities. The photoisomerization behavior and the photoinduced deformation behavior of these azobenzene-containing polymers were studied upon exposure to a 442 nm linearly polarized laser and a 532 nm linearly polarized laser, respectively. Both of the photodeformation rate and the maximum photoinduced bending angles of the polymers increased with increasing azobenzene content. To our knowledge, it is the first report on photoinduced deformation properties of azobenzene-containing poly (arylene ether)s. In addition, the photoinduced bending rate and maximum photoinduced bending angle of the cantilever under 442 nm laser excitation were higher and larger than that under 532 nm laser excitation, respectively.

Monitoring and analysis of melt-assisted deformation behavior of 304L stainless steel during multipass laser forming process using IR pyrometer and laser-based displacement sensor

In the present study, online monitoring of melt-based laser forming using a 2 kW Yb-fibre laser to understand the effect of partial sheet melting on bending behavior and mechanism to achieve precise deformation is investigated. A 1 mm thick 304L stainless steel sheet was used as substrate. The melt and non-melt-based sheet deformation and temperature signals were monitored using a laser-based non-contact type displacement sensor and an IR pyrometer, respectively for five consecutive scans on the same path having laser power, scan speed and spot diameter as input parameters. Variation in melt depth with process parameters and its effect on counter bending angle, net bending angle and significance of melt percentage with respect to sheet thickness on dictating the bending behavior was investigated. The bending mechanism reported in case of melt-based laser forming was found to vary from established solid metal sheet forming mechanisms and was termed as “melt-based TGM” mechanism. A maximum bending angle of 9.2° was obtained after five scans with 82 μm of melt depth. Microstructural and Phase variations of the melt and non-melt zone were studied for understanding their effects on material properties for melt–based laser forming. Finally, the mechanical behavior like modulus, Nano hardness and micro hardness of the melt and non- melt formed samples were studied to understand the applicability of melt-based laser formed sheets.

Development and Performance Analysis of Pneumatic Soft-Bodied Bionic Basic Execution Unit

This paper studies the design of pneumatic soft-bodied bionic basic execution unit with soft-rigid combination, which can be used as an actuator for pneumatic soft-bodied robots and soft-bodied manipulators. This study is inspired by structural characteristics and motion mechanism of biological muscles, combined with the nonlinear hyperelasticity of silica gel and the insertion of thin leaf spring structure in the nonretractable layer. Response surface analysis and numerical simulation algorithm are used to determine the optimal combination of structural dimension parameters by taking the maximum output bending angle of the basic executing unit as the optimization objective. Based on Odgen’s third-order constitutive model, the deformation analysis model of the basic execution unit is established. The physical model of pneumatic soft-bodied bionic basic execution unit is prepared through 3D printing, shape deposition, soft lithography, and other processing methods. Finally, the motion and dynamic characteristics of the physical model are tested through experiments and result analysis, thus obtaining curves and empirical formulas describing the motion and dynamic characteristics of the basic execution unit. The relevant errors are compared with the deformation analysis model of the execution unit to verify the feasibility and effectiveness of the design of the pneumatic soft-bodied bionic basic execution unit. The above research methods, research process, and results can provide a reference for the research and implementation of pneumatic and hydraulic driven soft-bodied robots and grasping actuators of soft-bodied manipulators.

Suppressing the burr of high aspect ratio structure by optimizing the cutting parameters in the micro-milling process

High aspect ratio (HAR) structures are widely utilized in diverse applications, including the defense industries, medical treatment, and aerospace. Studies show that the micro-milling has superiorities such as high efficiency and high flexibility over other methods. Currently, the biggest problem of micro-milling is the influence of burrs on the milling performance, which is an enormous challenge to remove. In the present study, numerical simulations through the finite element method (FEM) and experiments are carried out to optimize cutting parameters of the specimen made of Cr12MoV alloy. Moreover, an improved constitutive model is proposed by considering the size effect of the micro-milling. The proposed model is based on the J-C constitutive model, and it is concluded that the cutting force error is 4.6% through the comparison of experiment and FEM, which further proves the convergence of the improved constitutive model. It is also found that the side burr of HAR slots and the top burr of shallow slots are the biggest factors affecting the surface quality. The depth of cut (DoC) affects the maximum bending angle of the tool, the feed per tooth (FpT) affects the size of the unremoved area, and the spindle speed (SpS) affects the dynamic balance of the micro-mill, through the exploration of the above cutting parameters which can effectively improve the cutting state of the tool and finally achieve the purpose of curbing burr.

Cost-Effective Smartphone-Based Articulable Endoscope Systems for Developing Countries: Instrument Validation Study.

BackgroundEndoscopes are widely used for visualizing the respiratory tract, urinary tract, uterus, and gastrointestinal tracts. Despite high demand, people in underdeveloped and developing countries cannot obtain proper access to endoscopy. Moreover, commercially available endoscopes are mostly nonarticulable as well as not actively controlled, limiting their use. Articulating endoscopes are required for some diagnosis procedures, due to their ability to image wide areas of internal organs. Furthermore, actively controlled articulating endoscopes are less likely to harm the lumen than rigid endoscopes because they can avoid contact with endothelial tissues.ObjectiveThe study aimed to demonstrate the feasibility and acceptability of smartphone-based wide-field articulable endoscope system for minimally invasive clinical applications in developing and less developed countries.MethodsA thin articulable endoscope system that can be attached to and actively controlled by a smartphone was designed and constructed. The system consists of a flexible endoscopic probe with a continuum mechanism, 4 motor modules for articulation, a microprocessor for controlling the motor with a smartphone, and a homebuilt app for streaming, capturing, adjusting images and video, and controlling the motor module with a joystick-like user interface. The smartphone and motor module are connected via an integrated C-type On-The-Go (OTG) USB hub.ResultsWe tested the device in several human-organ phantoms to evaluate the usability and utility of the smartphone-based articulating endoscope system. The resolution (960 × 720 pixels) of the device was found to be acceptable for medical diagnosis. The maximum bending angle of 110° was designed. The distance from the base of the articulating module to the tip of the endoscope was 45 mm. The angle of the virtual arc was 40.0°, for a curvature of 0.013. The finest articulation resolution was 8.9°. The articulating module succeeded in imaging all 8 octants of a spherical target, as well as all 4 quadrants of the indices marked in human phantoms.ConclusionsThe portable wide-field endoscope was successfully controlled using a smartphone, yielding clear images with a resolution of 960 × 720 pixels at realistic focal distances. Actively and precisely controlled articulating movements have resulted in minimally invasive monitoring in the narrow space of internal organs providing a wide-area view. We found our smartphone-based active articulated endoscope to be suitable for point-of-care applications in developing and less developed countries.

Evolution of the acoustic startle response of Mexican cavefish.

The ability to detect threatening stimuli and initiate an escape response is essential for survival and under stringent evolutionary pressure. In diverse fish species, acoustic stimuli activate Mauthner neurons, which initiate a C-start escape response. This reflexive behavior is highly conserved across aquatic species and provides a model for investigating the neural mechanism underlying the evolution of escape behavior. Here, we characterize evolved differences in the C-start response between populations of the Mexican cavefish, Astyanax mexicanus. Cave populations of A. mexicanus inhabit an environment devoid of light and macroscopic predators, resulting in evolved differences in various morphological and behavioral traits. We find that the C-start is present in river-dwelling surface fish and multiple populations of cavefish, but that response kinematics and probability differ between populations. The Pachón population of cavefish exhibits an increased response probability, a slower response latency and speed, and reduction of the maximum bend angle, revealing evolved differences between surface and cave populations. Analysis of the responses of two other independently evolved populations of cavefish, revealed the repeated evolution of reduced angular speed. Investigation of surface-cave hybrids reveals a correlation between angular speed and peak angle, suggesting these two kinematic characteristics are related at the genetic or functional levels. Together, these findings provide support for the use of A. mexicanus as a model to investigate the evolution of escape behavior.

Empirical Modeling and Optimization of Laser Bending Process Parameters using the Central Composite Design Method for HDD Slider PSA/RSA Adjustment

This paper details the development and optimization of a laser adjustment process for the pitch static attitude and roll static attitude (PSA/RSA) to achieve the maximum bending angle without the burning of materials. The effects of process parameters (or factors) including the laser power, pulse repetition rate, and scanning time were investigated based on the central composite design method. Experiments were performed on a stainless steel (SST-300 series) suspension using a solid-state laser system and a charge-coupled device camera with image processing technology. Regression models of positive and negative PSA/RSA (or response) values were developed through a total of 20 experimental runs. The results showed that the PSA/RSA bending angle increases with increasing laser power and pulse repetition rate, while the bending angle decreases with increasing scanning time. The optimization determined that a higher laser power and lower scanning time had a more significant effect on the bending angle. However, the laser power cannot be increased above the melting point of the material, as this will lead to the formation of spongy debris on the stainless steel. The models were shown to accurately describe the relationship between the factors and responses. In addition, the laser bending mechanism for the PSA/RSA adjustment of a hard disk drive slider was investigated.

Highly Conductive MXene Film Actuator Based on Moisture Gradients.

MXene (Ti3 C2 Tx ) is a new 2D material with both hydrophilicity and high electrical conductivity, and it has shown promise in smart electronic devices. Reported herein is a homogeneous MXene film actuator with high electrical conductivity triggered by moisture gradients. The actuator is highly sensitive to moisture and undergoes deformation, with the maximum bending angle as high as 155° at a relative humidity difference of 65 %. Several analysis methods show that the humidity drive and large deformation of the MXene film occur in situ by asymmetric expansion of the bilayer structure. The combination of deformation and electrical conductivity makes this film applicable to flexible excavators, electrical switches, and other fields, applications that are difficult to achieve directly by using other 2D materials. More importantly, this work further expands the new application range of MXene materials and provides new opportunities for building the next generation of high-conductivity smart actuators.

Highly Conductive MXene Film Actuator Based on Moisture Gradients

AbstractMXene (Ti3C2Tx) is a new 2D material with both hydrophilicity and high electrical conductivity, and it has shown promise in smart electronic devices. Reported herein is a homogeneous MXene film actuator with high electrical conductivity triggered by moisture gradients. The actuator is highly sensitive to moisture and undergoes deformation, with the maximum bending angle as high as 155° at a relative humidity difference of 65 %. Several analysis methods show that the humidity drive and large deformation of the MXene film occur in situ by asymmetric expansion of the bilayer structure. The combination of deformation and electrical conductivity makes this film applicable to flexible excavators, electrical switches, and other fields, applications that are difficult to achieve directly by using other 2D materials. More importantly, this work further expands the new application range of MXene materials and provides new opportunities for building the next generation of high‐conductivity smart actuators.

Organic adhesive assisted underwater submerged-arc welding

Abstract Underwater welding technology has become indispensable to the construction, maintenance, and repair of many offshore structures in oceanographic engineering industry. However, the existing disadvantages of current underwater welding technologies make them be unpopular and limited. An innovative organic adhesive assisted underwater submerge-arc welding was proposed to avoid the water disturbances to the maximum extent in wet condition. The mixture composed of bisphenol-A epoxy resin (EP) and welding flux in a weight ratio of 4:6 was placed on the metal surface before welding. Welding arc totally submerged in the mixture and maintained stable burning between the wire and base metal. The coverage effectively isolated the serious direct disturbances from surrounding water and greatly reduced the cooling rate of the welded joints to 19.57 °C/s. High-performance and defect-free welded joints were achieved with fine microstructures. The average tensile strength and maximum bending angle of the welded joints obtained by underwater submerged arc welding reached 463 MPA and 180°, respectively. Especially, low temperature impact toughness still keep 63 J/cm2 in 0 °C, which means far better mechanical properties compared with underwater wet welding. For the wet condition, this provides a possibility to acquire high-quality underwater welded joints comparable to that in air.

Development of novel flexible heat pipe with multistage design inspired by structure of human spine

To improve the thermal performance and expand application scope of the flexible heat pipe, a novel flexible heat pipe with multistage design is proposed which inspired by the structure of human spine. The thermal performance of bionic flexible heat pipe under different working conditions was experimentally investigated. Our results show that bionic flexible heat pipe has lower thermal resistance and better stability after bending compared with the traditional flexible heat pipe. Moreover, the bionic flexible heat pipe with 25% filling ratio has low thermal resistance and strong anti-gravity ability. Furthermore, the thermal resistance of bionic flexible heat pipe keeps about 0.57 °C/W after bending multiple times because working fluid can realize two phase cycle in bionic flexible heat pipe. In general, the thermal resistance of bionic flexible heat pipe increases with the increase of bending angle, but the change of thermal resistance is closely related to the working position during the inclined bending process, because the height difference between the evaporator and condenser has a great effect on the thermal performance of flexible heat pipe. Moreover, the maximum height of the anti-gravity section of flexible heat pipe is derived to determine the maximum bending angle range of flexible heat pipe during three-dimensional (3D) bending. This study provides a new method for the design of flexible heat pipe with high performance.

An efficient large-scale mesh deformation method based on MPI/OpenMP hybrid parallel radial basis function interpolation

An efficient MPI/OpenMP hybrid parallel Radial Basis Function (RBF) strategy for both continuous and discontinuous large-scale mesh deformation is proposed to reduce the computational cost and memory consumption. Unlike the conventional parallel methods in which all processors use the same surface displacement and implement the same operation, the present method employs different surface points sets and influence radius for each volume point movement, accompanied with efficient geometry searching strategy. The deformed surface points, also called Control Points (CPs), are stored in each processor. The displacement of spatial points is interpolated by using only 20–50 nearest control points, and the local influence radius is set to 5–20 times the maximum displacement of control points. To shorten the searching time for the nearest control point clouds, an Alternating Digital Tree (ADT) algorithm for 3D complex geometry is designed based on an iterative bisection technique. Besides, an MPI/OpenMP hybrid parallel approach is developed to reduce the memory cost in each High-Performance Computing (HPC) node for large-scale applications. Three 3D cases, including the ONERA-M6 wing and a commercial transport airplane standard model with up to 2.5 billion hybrid elements, are used to test the present mesh deformation method. The robustness and high parallel efficiency are demonstrated by a wing deflection case with a maximum bending angle of 45° and more than 80% parallel efficiency with 1024 MPI processors. In addition, the availability for both continuous and discontinuous surface deformation is verified by interpolating the projecting displacement with opposite directions surface points to the spatial points.

Smart Devices Based on the Soft Actuator with Nafion-Polypropylene-PDMS/Graphite Multilayer Structure

The demand for multi-functional soft actuators with simple fabrication and fast response to multiple stimuli is increasing in the field of smart devices. However, for existing actuators that respond to a single stimulus, it is difficult to meet the requirements of application diversity. Herein, a type of multi-stimulus responsive soft actuator based on the Nafion-Polypropylene-polydimethylsiloxane (PDMS)/Graphite multilayer membranes is proposed. Such actuators have an excellent reversible response to optical/thermal and humidity stimulation, which can reach a 224.56° bending angle in a relative humidity of 95% within 5 s and a maximum bending angle of 324.65° in 31 s when the platform temperature is 80 °C, and has a faster response (<0.5 s) to optical stimuli, as an asymmetric structure allows it to bend in both directions. Based on such an actuator, some applications like flexible grippers and switches to carry items or control circuits, bionic flytraps to capture and release “prey”, have also been developed and studied. These provide potential applications in the fields of soft sensors, artificial skin and flexible robots.

Neuromodulatory Selection of Motor Neuron Recruitment Patterns in a Visuomotor Behavior Increases Speed.

Animals generate locomotion at different speeds to suit their behavioral needs. Spinal circuits generate locomotion at these varying speeds by sequential activation of different spinal interneurons and motor neurons. Larval zebrafish can generate slow swims for prey capture and exploration by activation of secondary motor neurons and much faster and vigorous swims during escape and struggle via additional activation of primary motor neurons. Neuromodulators are known to alter the motor output of spinal circuits, but their precise role in speed regulation is not wellunderstood. Here, in the context of optomotor response (OMR), an innate evoked locomotor behavior, we show that dopamine (DA) provides an additional layer to regulation of swim speed in larval zebrafish. Activation of D1-like receptors increases swim speed during OMR in free-swimming larvae. By analyzing tail bend kinematics in head-restrained larvae, we show that the increase in speed is actuated by larger tail bends. Whole-cell patch-clamp recordings from motor neurons reveal that, during OMR, typically only secondary motor neurons are active, whereas primary motor neurons are quiescent. Activation of D1-like receptors increases intrinsic excitability and excitatory synaptic drive in primary and secondary motor neurons. These actions result in greater recruitment of motor neurons during OMR. Our findings provide an example of neuromodulatory reconfiguration of spinal motor neuron speed modules where members are selectively recruited and motor drive is increased to effect changes in locomotor speed. VIDEO ABSTRACT.

A Steerable Neuroendoscopic Instrument Using Compliant Contact-Aided Joints and Monolithic Articulation

AbstractThis work presents the design of an articulate neuroendoscopic instrument (ANI), a handheld tool for use in minimally invasive neurosurgery. The instrument consists of a handle and a steerable tube-shaft with a distal end-effector. The design aims to increase the reach of surgeons operating through narrow channels within the center of the brain when approaching multiple targets from a single incision point. The steerable tube-shaft consists of a 1.6- mm notch-tube compliant joint mechanism augmented with contact-aids modeled after a gear geometry. The contact-aid geometry aims to address the performance tradeoff between stiffness, range-of-motion (RoM), and joint compactness for millimeter-scale notched-tube joints; it increases blocking force without sacrificing RoM. Finite element modeling (FEM) was used to refine design features, and the joint stiffness and RoM are assessed experimentally for three prototypes. The joint is incorporated into a tube-shaft instrument, and the assembled tool's stiffness properties are characterized. The prototype was then assessed in a validated neurosurgical simulator. An individual 1.24-mm outer-diameter notch-tube compliant joint with gear contact-aids is capable of 30 deg maximum bending and can sustain a 0.55 N blocking force with 0.5 mm displacement. A functional instrument shaft with a 15.5- mm-long articulating section was constructed from three joints in series with an external flexible stainless-steel sheath. It achieves a 6.7-mm bending radius at 75 deg maximum bending angle. In preclinical testing with an endoscopic third ventriculostomy and endoscopic tumor biopsy (ETV-ETB) simulator, the tool successfully completes the biopsy and fenestration maneuvers from a single burr-hole entry point. The ANI prototype uses contact-aid geometry incorporated into a compliant nitinol notched-tube joint to produce an articulate biopsy instrument for minimally invasive neurosurgical applications.

Characterizing the bending deformation of polymer utilizing the diffraction spectrum of a holographic grating on a flexible substrate

A volume grating based holographic sensor on a flexible substrate for real-time characterization of the bending deformation of polymer has been studied. Two kinds of deformations, i.e., unilateral and bilateral bending, are analyzed by using the diffraction spectrum of a transmission grating. The dependence of the peak wavelength on the angle displacement in unilateral bending presents a linear relationship. The relation between the peak wavelength and the curvature radius in bilateral bending is also a linear relationship. The maximum bending angle is 18 deg in unilateral bending, and the curvature radius reduces to 44 mm in bilateral bending. The diffraction spectrum coverage is up to 200 nm. In straightening a curved grating, the spatial width of the rainbow spectrum presents a linear relation to the curvature radius. The sensing feedback of bending deformation provides an effective method for characterizing the bending movement of polymer. It can even qualitatively present the deformation by observing the center color and its width with the naked eye. The optical measurement of bending deformation further validates the practical applicability of the holographic sensor.

Medial Longitudinal Arch Pad Influences Landing Control of the Lower Limbs during Single-Leg Jump-Landing

Background: Arch support has the effect of maintaining arch and correcting alignment, and it is broadly used for the prevention of sports impediment and treatment of athletes with lowered MLA and foot problems. The fact that the morphological change of MLA damages balance sense and postural control, it was reported that the insole supporting the arch of MLA improved postural balance. There are several studies regarding the effects of arch support; however, its effects on landing control have not been clarified. Therefore, in our research, we discussed the effect of MLA support for landing control, using lower limb dynamic alignment and the moment during landing as indexes. Methods: This study measured the landing motion to be evaluated was to jump from a platform with a height of 30 cm by taking-off with a single foot, and landing on a single foot on a floor reaction force gauge placed ahead and stay still for three seconds for the subjects were 13 healthy females. A soft 6 mm Boron sheet cut in the size of 9 × 3.5 cm, applied with double-sided tape (MLA pad) was used for arch support (hereafter referred to as “pad”). For the lower limb evaluation, an 8-camera with a three-dimensional behavioral analyzer (CORTEX, NAC product, sampling frequency: 120 Hz) and a floor reaction force gauge (AMTI product, sampling frequency: 1000 Hz) were used. Ten successful jump-landing tests for each limb were used for further analyses using Visual 3D software (Cmotion Inc., Kingston, Canada). Analysis objects were knee joint bending angle and valgus angle during landing; knee joint maximum bending angle; bending knee joint valgus angle, hip joint bending angle, adduction angle, ankle joint plantar flexion angle, varus angle at the time of knee joint maximum bending angle; and each joint moment. For statistical processing, the average value of three trials out of five trials was regarded as a representative value. Results: Regarding joint angles, significant differences were observed in maximum knee joint bending angle, knee joint bending angle during maximum valgus knee joint and ankle joint varus angle during knee joint maximum bending angle between before and after intervention. No significant differences were observed in other joint angles. Regarding joint moments, no significant difference was observed in each joint moment before and after the intervention. Significance: The decrease of knee joint valgus angle during landing by the use of MLA pad suggests the possibility of decreasing the risk of ACL injury. As the incidence of ACL injury in females is higher than that of males, and the evaluation for females had proceeded, it can be useful information for the prevention of ACL injury.

The study of bending properties of monolayer MoS2 in non-collinear electrodes using first principles theory

In this work, we report the theoretical maximum bending angle of MoS2 devices using the creative non-collinear electrodes method based on the first principles theory. The results show that the device with 1T-phase MoS2 electrodes sandwiching N-type MoS2 in a zigzag direction has a better conducting behavior as compared with P-type in an armchair direction. The conductance decreases less than 15% when the angle between the two electrodes is less than 45° in both the equilibrium state and non-equilibrium state because of the continuous resonant response between the two electrodes and the little deformed band structure. This work provides guidance and a physical mechanism for achieving flexible MoS2 transistors that are reliable at a sub-nm bending radius.

A novel bending microactuator with integrated flexible electro-rheological microvalves using an alternating pressure source for multi-actuator systems

This paper presents a novel bending microactuator with integrated flexible electro-rheological microvalves (FERVs) using an alternating pressure source for multi-actuator systems. The proposed bending microactuator is a fluidic elastomer actuator that has two fluidic chambers inside and can bend with the chamber pressures controlled by the integrated FERVs, each of which has a flexible structure and changes a flow of electro-rheological fluid (ERF) through its viscosity change due to an applied electric field. The utilization of the FERVs in the actuator reduces the overall size, while the benefits of the alternating pressure source are reduction of the number of pipes in a multi-actuator system and removal of the fluid reservoir tank. The mathematical models were demonstrated and utilized for optimizing and designing the dimensions of the actuator to obtain the maximum bending angle, the fast response, and the highest output force. The designed actuator was successfully fabricated using MEMS technologies and experiments were conducted to investigate the bending angle and the response time of the successfully fabricated actuator. The results showed good agreement between the experimental results and the simulation results, which proved the validity of the proposed models. Comparing with the previously proposed microactuator with an FERV, the proposed actuator had 4.5 times larger bending angle. From the results, the optimized actuator showed the feasibility for use in e.g. micro gripper application.

A soft continuum robot, with a large variable-stiffness range, based on jamming

Inspired by the physiological structure of the hand capable of realizing the continuous change in finger stiffness when grasping objects of different masses, a self-locking soft continuum robot with a large variable-stiffness range based on particle jamming and fibre jamming is proposed in this paper to meet the requirements of it in practical application. In this paper, a variable stiffness range is derived due to the good fluidity and rigidity of the spherical particles and the low elasticity and high toughness of the fibres. Then, an analysis model is established to deduce its self-locking condition, and the deflection angle of self-locking under the influence of external force is about 0.17 rad. The maximum stiffness of the experimental prototype can reach 1223.58 N m−1 due to the limitation of the experimental materials, despite the fact that the theoretical stiffness can be increased infinitely after self-locking. To explain the adaptability of the robot, the adaptive conditions of the soft continuum robot with variable stiffness are deduced. A new evaluation index, the adaptive intensity of the soft continuum robot, is introduced and the adaptability experiments are carried out. In adaptability experiments, the maximum bending angle of the continuum robot reaches 108°. Finally, the adaptability of the soft continuum robot to different geometries is discussed.