Growing robots based on the eversion principle are known for their ability to extend rapidly, from within, along their longitudinal axis, and, in doing so, reach deep into hitherto inaccessible, remote spaces. Despite many advantages, eversion robots also present significant challenges, one of which is maintaining sensory payload at the tip without restricting the eversion process. A variety of tip mechanisms has been proposed by the robotics community, among them rounded caps of relatively complex construction that are not always compatible with functional hardware, such as sensors or navigation pouches, integrated with the main eversion structure. Moreover, many tip designs incorporate rigid materials, reducing the robot's flexibility and consequent ability to navigate through narrow openings. Here, we address these shortcomings and propose a design to overcome them: a soft, entirely fabric based, cylindrical cap that can easily be slipped onto the tip of eversion robots. Having created a series of caps of different sizes and materials, an experimental study was conducted to evaluate our new design in terms of four key aspects: eversion robot made from multiple layers of everting material, solid objects protruding from the eversion robot, squeezability, and navigability. In all scenarios, we can show that our soft, flexible cap is robust in its ability to maintain its position and is capable of transporting payloads such as a camera across long distances.

翻译：基于外翻原理的生长机器人以其能够沿纵轴从内部快速延伸，从而深入先前难以到达的远程空间而闻名。尽管具有诸多优势，外翻机器人也面临显著挑战，其中之一是在不限制外翻过程的前提下，在尖端保持传感载荷。机器人学界已提出了多种尖端机构，其中包括结构相对复杂的圆顶帽，这些帽体并不总是与集成了传感器或导航袋等功能硬件的整体外翻结构兼容。此外，许多尖端设计采用刚性材料，降低了机器人的柔韧性及其穿过狭窄开口的能力。在此，我们针对这些不足提出一种设计方案以克服它们：一种完全基于织物的软质圆柱形帽，可轻松套在外翻机器人尖端。通过制造一系列不同尺寸和材料的帽体，我们开展了实验研究，从四个关键方面评估我们的新设计：多层外翻材料制成的外翻机器人、从外翻机器人突出的固体物体、可挤压性和可导航性。在所有场景中，我们都能证明，我们的软质柔性帽能牢固保持其位置，并能长距离运输诸如相机之类的有效载荷。