Evaluation and Characterization of Tendon Routing Methods for Soft, Flexible Foam Robots

Tendon-actuated flexible foam robots have proven manipulation and locomotion capabilities while remaining soft and human-safe. However, the compliant nature of foam makes tendon integration a challenging design and fabrication problem. This can be seen by the variety of approaches used by researchers to date. Existing foam robots externally route tendons using textile skins or shallowly embedded e...