Wristed vine robot

Abstract

A soft vine robot has a main body configured as a tube inverted back inside itself to define a pressure channel, such that when the channel is pressurized, the main body everts, and inverted material everts and passes out of a tip at a distal end of the main body. A steering tube is held by and extends with the main body. A wrist joint is defined by a portion of the steering tube. A tendon extends along the steering tube and is fixedly attached to the steering tube distally of the wrist joint such that pulling tension applied to the tendon induces bending of the steering tube and the main body at the wrist joint.

Dependencies are inferred from the claim text.