We introduce a new class of long and thin continuum robots intended for use in space applications. This 'cable' robot is a next-generation version of the current state of the art (NASA's 'Tendril'). The article describes the key practical limitations of the mechanical design of 'Tendril'. We introduce the design specifics of our novel concept for a next-generation device with significantly enhanced performance. Equipped with a light and compact motor-encoder actuation mechanism, the new design has improved compliance and possesses a concentric backbone arrangement which is tendon-actuated and spring-loaded. A new forward kinematic model is developed extending the established models for constant-curvature continuum robots, to account for the new design feature of controllable compression (in the hardware). The model is validated by performing experiments with a three-section prototype of the design. The new model is found to be effective as a baseline to predict the performance of such long and thin continuum 'cable' robots.

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In this paper, we present a new forward kinematic model for a novel class of long and thin continuum robots for operation in spatial workspace. Such robots are well suited for navigation through unstructured environments with superior reach using their flexible and thin profile, especially for inspection applications. This cable-like continuum robot design [1] has a concentric backbone arrangement but is spring-loaded and tendon-actuated, has improved compliance with a light and compact motor-encoder actuation mechanism. To account for the spring-loading, a compression factor is introduced on top of the established constant curvature continuum kinematics. The resulting continuum or shape variables are then estimated as a function of the measurable encoder variables. The effectiveness of the model is validated by performing experiments with the robot prototype.

CyberPLAYce is our novel, interactive-computational construction kit for elementary school children and their teachers. CyberPLAYce bridges the physical and digital worlds, allowing young students to bring their ideas, stories and class subjects to life through the construction of cyber-physical environments. The CyberPLAYce construction kit is comprised of handsized, magnetic modules integrating a variety of electronic components, and rectangular panels, nearly two-feet measured diagonally, that receive the modules and serve as physical building blocks for constructing cyber-physical environments imagined by children. Through play, children become comfortable with the working modules and panels; subsequently, they are provided matching non-electronic module cards allowing them to quickly compose pattern sequences to map ideas, stories and class content. Additionally, students are provided action and story cards to spark their imagination. CyberPLAYce merges play and learning in the physical world while transitioning students from consumers of virtual and digital-centric technologies into technological innovators and cyberplayful storytellers.