Development

The main structure Consists of slotted link plates to which reverse spring hinges are bolted using M3 machine screws. These slots allow the hinges to slide, permitting the same flexible motion as a soft material would. The spring hinges provide active resistance to make the structure stand up straight when not under actuation.

The PCB for this project simply contains the power regulation and communication interface ICs, using vias for electrical simplicity and noise reduction.