Imperial College London

Dr Thrishantha Nanayakkara

Faculty of EngineeringDyson School of Design Engineering

Reader in Design Engineering and Robotics



+44 (0)20 7594 0965t.nanayakkara Website CV




RCS1 M229Dyson BuildingSouth Kensington Campus






BibTex format

author = {Jiang, A and Xynogalas, G and Dasgupta, P and Althoefer, K and Nanayakkara, T},
doi = {10.1109/IROS.2012.6385696},
pages = {2922--2927},
title = {Design of a variable stiffness flexible manipulator with composite granular jamming and membrane coupling},
url = {},
year = {2012}

RIS format (EndNote, RefMan)

AB - Robotic manipulators for minimally invasive surgeries have traditionally been rigid, with a steerable end effector. While the rigidity of manipulators improve precision and controllability, it limits reachability and dexterity in constrained environments. Soft manipulators with controllable stiffness on the other hand, can be deployed in single port or natural orifice surgical applications to reach a wide range of areas inside the body, while being able to passively adapt to uncertain external forces, adapt the stiffness distribution to suit the kinematic and dynamic requirements of the task, and provide flexibility for configuration control. Here, we present the design of a snake-like laboratory made soft robot manipulator of 20 mm in average diameter, which can actuate, soften, or stiffen joints independently along the length of the manipulator by combining granular jamming with McKibben actuators. It presents a comprehensive study on the relative contributions of the granule size, material type, and membrane coupling on the range, profile, and variability of stiffness. © 2012 IEEE.
AU - Jiang,A
AU - Xynogalas,G
AU - Dasgupta,P
AU - Althoefer,K
AU - Nanayakkara,T
DO - 10.1109/IROS.2012.6385696
EP - 2927
PY - 2012///
SN - 2153-0858
SP - 2922
TI - Design of a variable stiffness flexible manipulator with composite granular jamming and membrane coupling
UR -
ER -