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Handed Shearing Auxetics (HSA) are a promising technique for makingmotor-driven, soft, continuum robots. Many potential applications frominspection tasks to solar tracking require accurate kinematic models to predictthe position and orientation of these structures. Currently there are no modelsfor HSA based continuum platforms. To address this gap we propose to adaptPiecewise Constant Curvature (PCC) Models using a length change couplingmatrix. This models the interaction of HSA structures in a 2x2 array. Thecoupling matrix maps the change in motor angles to length changes and definesthe configuration space in our modified PCC Model. We evaluate our model on acomposite movement encompassing bending, extension and compression behavior.Our model achieves a positional accuracy with mean error of 5.5mm or 4.5% bodylength and standard deviation of 1.72mm. Further, we achieve an angularaccuracy with mean error of -2.8$^\circ$ and standard deviation of 1.9$^\circ$.

Kinematic Modeling of Handed Shearing Auxetics via Piecewise Constant Curvature