This paper introduces a new type of soft continuum robot, called SCoReS, which is capable of self-controlling continuously its curvature at the segment level; in contrast to previous designs which either require external forces or machine elements, or whose variable curvature capabilities are discrete -- depending on the number of locking mechanisms and segments. The ability to have a variable curvature, whose control is continuous and independent from external factors, makes a soft continuum robot more adaptive in constrained environments, similar to what is observed in nature in the elephant's trunk or ostrich's neck for instance which exhibit multiple curvatures. To this end, our soft continuum robot enables reconfigurable variable curvatures utilizing a variable stiffness growing spine based on micro-particle granular jamming for the first time. We detail the design of the proposed robot, presenting its modeling through beam theory and FEA simulation -- which is validated through experiments. The robot's versatile bending profiles are then explored in experiments and an application to grasp fruits at different configurations is demonstrated.

翻译：本文介绍了一种新型软体连续型机器人SCoReS，其能够在节段层面自主连续控制曲率；与此前需要外部力或机械元件、或曲率可变能力离散（取决于锁止机构及节段数量）的现有设计形成对比。可变曲率能力使其控制具有连续性与外部因素无关性，使软体连续型机器人在受限环境中具备更强的适应性——例如自然界中大象鼻子或鸵鸟颈部呈现的多重曲率现象。为此，我们的软体连续型机器人首次利用基于微粒颗粒堵塞的可变刚度生长脊柱，实现了可重构的可变曲率。我们详细阐述了所提机器人的设计，通过梁理论建模与有限元仿真（经实验验证）呈现其数学模型。随后通过实验探究了机器人多样的弯曲构型，并展示了在不同姿态下抓取水果的应用。