Open Access

Joshua Biehn

• 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.