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Inflatable structures used in soft robotics applications exhibit uniquecharacteristics. In particular, the tip-extension structure, which grows fromthe tip, can grow without friction against the environment. However, theseinflatable structures are inferior to rigid mechanisms in terms of theirload-bearing capacity. The stiffness of the tip-extension structure can beincreased by pressurization, but the structure cannot maintain its curved shapeand compliance. In this study, we proposed a mechanism that combines a skeletonstructure consisting of multi-joint links with functions to increase rigiditywhile keeping low pressure and realizing the functions of bending and shapefixation. We devised a design method for rigid articulated links and combinedit with a membrane structure that utilizes the advantages of the tip-extensionstructure. The experimental results show that the payload of the designedstructure increases compared to that of the membrane-only structure. Thefindings of this research can be applied to long robots that can be extended inthe air without drooping and to mechanisms that can wrap around the human body.

Inflated Bendable Eversion Cantilever Mechanism with Inner Skeleton for Increased Payload Holding