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Pneumatically operated soft growing robots that extend via tip eversion arewell-suited for navigation in confined spaces. Adding the ability to interactwith the environment using sensors and tools attached to the robot tip wouldgreatly enhance the usefulness of these robots for exploration in the field.However, because the material at the tip of the robot body continually changesas the robot grows and retracts, it is challenging to keep sensors and toolsattached to the robot tip during actuation and environment interaction. In thispaper, we analyze previous designs for mounting to the tip of soft growingrobots, and we present a novel device that successfully remains attached to therobot tip while providing a mounting point for sensors and tools. Our tip mountincorporates and builds on our previous work on a device to retract the robotwithout undesired buckling of its body. Using our tip mount, we demonstrate twonew soft growing robot capabilities: (1) pulling on the environment whileretracting, and (2) retrieving and delivering objects. Finally, we discuss thelimitations of our design and opportunities for improvement in future softgrowing robot tip mounts.

A Tip Mount for Transporting Sensors and Tools using Soft Growing Robots