Tentacle-like manipulators with adjustable tension lines

A tentacle-like manipulator, comprising:

• a resilient laterally bendable elongate member having a proximal end and a distal end;
• said elongate member being inflatable and being longitudinally extensible and contractible in response to pressure variations within said elongate member;
• means for varying the pressure within said elongate member and thereby longitudinally extending and contracting said elongate member;
• an end effector mounting provided at said distal end;
• a plurality of flexible tension members spaced around said elongate member and extending along said elongate member from said proximal end;
• means securing one end of said tension members to said elongate member at a distance from said proximal end;
• a plurality of guides spaced apart along and secured to said elongate member and slidably engaging said tension members for guiding said tension members relative to said elongate member;
• and
• tensioning means for adjustably tensioning said tension members by different amounts and thereby bending said elongate member.