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Spider monkeys (genus Ateles) have a prehensile tail that functions as a flexible, multipurpose fifth limb, enabling them to navigate complex terrains, grasp objects of various sizes, and swing between supports. Inspired by the spider monkey tail, we present a life size hybrid soft-rigid continuum robot designed to imitate the function of the tail. Our planar design has a rigid skeleton with soft elements at its joints that achieve decreasing stiffness along its length. Five manually-operated wires along this central structure control the motion of the tail to form a variety of possible shapes in the 2D plane. Our design also includes a skin-like silicone and fabric tail pad that moves with the tail&#x0027;s tip and assists with object grasping. We quantify the force required to pull various objects out of the robot&#x0027;s grasp and demonstrate that this force increases with the object diameter and the number of edges in a polygonal object. We demonstrate the robot&#x0027;s ability to grasp, move, and release objects of various diameters, as well as to navigate around obstacles, and to retrieve an object after passing under a low passageway.

Hybrid Soft-Rigid Continuum Robot Inspired by Spider Monkey Tail