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    <id>2292</id>
    <completedYear>2025</completedYear>
    <publishedYear>2025</publishedYear>
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    <language>eng</language>
    <pageFirst/>
    <pageLast/>
    <pageNumber>77</pageNumber>
    <edition/>
    <issue/>
    <volume/>
    <type>masterthesis</type>
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    <title language="eng">Design and Validation of a Bio-Inspired Tendon-Driven Continuum Manipulator</title>
    <abstract language="eng">This thesis develops bio-inspired, multi-segment tendon-driven continuum manipulator through a structured, iterative design process. Combining piecewise constant-curvature modeling, for design validation, with hybrid soft-rigid joint fabrication, three prototypes explore trade-offs among anatomical scale, actuation efficiency, and structural compliance. Novel, internal, soft-rigid components, buckling-mitigation features and internally routed tendons are integrated and evaluated under a common experimental frame work. Demonstrations include single-finger grasps and coordinated bimanual object handling, confirming the manipulator’s viability for humanoid end-effector tasks. The final design produced a tip-load of ≈ 17N for a pinching grasp and ≈ 12N in a power grasp, with 4 degrees of freedom and a maximum bending angle of 209°. Future work will focus on closed-loop control, dynamic interaction testing, and scaling to multi-digit hands.</abstract>
    <identifier type="urn">urn:nbn:de:hbz:1383-opus4-22928</identifier>
    <enrichment key="opus.import.date">2025-12-12T14:08:09+00:00</enrichment>
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    <licence>Bestimmungen des deutschen Urheberrechts</licence>
    <author>Joshua Biehn</author>
    <collection role="institutes" number="">Fakultät Technologie und Bionik</collection>
    <collection role="Import" number="import">Import</collection>
    <thesisPublisher>Hochschule Rhein-Waal</thesisPublisher>
    <thesisGrantor>Hochschule Rhein-Waal</thesisGrantor>
    <file>https://opus4.kobv.de/opus4-rhein-waal/files/2292/8790_20252104235559_Joshua_Biehn_29497_Thesis.pdf</file>
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