Enabling the control of a new degree of freedom by using anisotropic material on a 6-DOF parallel soft robot

In this paper, we design in simulation and build a parallel soft robot with a 6 degrees of freedom (DOF) end-effector. We show that by using a 3D-printed meso-structured material which displays an anisotropic behaviour, we can modify the kinematics of the structure in order to control one additional DOF which is not possible to achieve using a standard isotropic and homogeneous material like silic...