Resumen de A first approach to a proposal of a soft robotic link acting as a neck

Luis Nagua Cuenca, Jorge Muñoz Yañez-Barnuevo, Concepción Alicia Monje Micharet, Carlos Balaguer Bernaldo de Quirós

• The purpose of this paper is to design a soft robotic neck prototype with two Degrees of Freedom (DOF) and propose a control system based on a fractional order PD controller (FPD). The neck will be able to perform movements of flexion, extension and lateral bending. To achieve these movements, the design is made based on a cable-driven mechanism, with components easy to manufacture in a 3D printer. Simulations are performed to validate the feasibility of the developed parallel robot prototype and the robustness of the proposed control scheme to mass changes at the tip.