A Robot Continuum Arm Inspired by the Human Upper Limb: The Pronation and Supination Rotating Behaviour

This paper proposes an innovative design of a continuum arm inspired by the human upper limb, which could rotate clockwise and counterclockwise similar to the pronation and supination movements of the human arm. In addition to this unique feature, the proposed arm can contract and bend in different directions. The proposed continuum arm is designed to provide these features and is constructed by using two contraction pneumatic muscle actuators (PMA) and one self-bending contraction actuator (SBCA). The kinematics of the proposed rotating arm has been explained. The design provides flexibility in selecting the rotating radius according to the distance between the rotating centre and the contraction actuators. This article shows the advantages of using soft actuators to form different structures, which provide multiple operations.