Actuator

A universal actuator for driving a continuum arm robot having a plurality of tendons, the universal actuator comprising:

• a housing;
• a power supply pack comprising a power source;
• and
• a control pack comprising an industrial programmable logic controller, a screen, a rotary encoder linked to an analogue input device a digital output device, a plurality of electronic control cards that connect the programmable logic controller to a user input device, the rotary encoder and an actuator pack for controlling the motion of the continuum arm robot, the programmable logic controller or the screen having a computer program to allow for set up and control of the continuum arm robot, wherein:
• the power supply pack and the control pack are located within the housing;
• the actuator pack is coupled to an electronic control card that is linked to the control pack, the actuator pack comprising a plurality of actuators, each actuator being coupled to its own load cell and servo drivers;
• the actuator pack has a connection port, the connection port having a hole through which tendons of the continuum arm robot are configured to pass through in order to be connected to their associated actuator and a coupler for allowing secure attachment and removal of the continuum arm robot;
• and
• each actuator of the plurality of actuators has a removable attachment configured for the tendons of the continuum arm robot.