Precisely controllable flexible actuator

A flexible actuator, comprising:

• a helical spring formed from an elastically deformable material;
• a cross-sectional area of a turn of the helical spring having in a longitudinal direction of the helical spring an elongated profile which has a bent-over edge at each end of the helical spring, a first edge being bent over towards a spring longitudinal axis of the spring and a second edge being bent over away from the spring longitudinal axis;
• the helical spring configured such that the first edge and the second edge of two adjacent turns of the helical spring overlap in an overlap zone;
• at least one of the first edge and the second edge is structural in the overlap zone such that it extends essentially parallel to the respectively adjacent turn of the helical spring, and forms a parallel zone therewith;
• for at least one location of a respective parallel zone at least one controllable arresting device to which mutual displaceability of adjacent turns thereto is blockable;
• guide eyes uniformly distributed on a circumference of the helical spring such that the guide eyes are respectively situated on at least three first parallel axes in the direction in which the helical spring extends, said axes having substantially a common separation from one another;
• first tension cables which are all secured at a first end of the helical spring, the cables being guided along the first parallel axes through the eyes;
• wherein a predetermined direction of movement is produced by tension exerted on at least one of the tension cables at a second end of the helical spring and wherein the guide eyes through which said at least one of the first tension cable is guided, are moved closer to one another.