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• W2415192486 abstract "This paper introduces a manufacturing technique which enables the integration of soft materials and soft fluidic micro-actuators in the Pop-up book MEMS paradigm. Such a technique represents a promising approach to the design and fabrication of low cost and scalable articulated mechanisms provided with sensing capabilities and on-board actuation with potential applications in the field of minimally invasive surgery. Design and integration of soft components in the rigid-flex laminates is described along with the resulting soft pop-up mechanisms realized at different scales. Prototype characterization is presented, demonstrating forces and dexterity in a range suitable for surgical applications, as well as the possibility to integrate sensing capabilities. Based on these results, a multi-articulated robotic arm is fabricated and mounted on top of an endoscope model to provide a proof of concept of simple robotic mechanisms that could be useful in a surgical scenario." @default.
• W2415192486 created "2016-06-24" @default.
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• W2415192486 date "2016-05-01" @default.
• W2415192486 modified "2023-09-23" @default.
• W2415192486 title "Soft pop-up mechanisms for micro surgical tools: Design and characterization of compliant millimeter-scale articulated structures" @default.
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• W2415192486 doi "https://doi.org/10.1109/icra.2016.7487203" @default.
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