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机器人SCoReS，该机器人能够在节段层面自主连续控制其曲率；这与以往的设计形成对比——以往设计要么依赖外部力或机械元件，要么其可变曲率能力是离散的（取决于锁止机构与节段数量）。实现曲率可调且控制连续化、独立于外部因素的能力，使软体连续机器人在受限环境中更具适应性，这与自然界中大象鼻子或鸵鸟颈部等多曲率表现类似。为此，我们的软体连续机器人首次基于微颗粒粒度阻塞的可变刚度生长脊柱实现了可重构可变曲率。我们详细阐述了所提机器人的设计，通过梁理论及有限元仿真建立了其模型——并经实验验证。随后通过实验探究了机器人的多向弯曲特性，并演示了其在多种构型下抓取水果的应用。