**11. References**


Powell, D., Sen, S., Siciliano, B., Tonietti, G. & Villani, L. [2006]. Safe and dependable physical human-robot interaction in anthropic domains: State of the art and challenges, *in* A. Bicchi & A. D. Luca (eds), *Procceedings IROS Workshop on pHRI - Physical Human-Robot Interaction in Anthropic Domains*, Beijing, China.


34 Will-be-set-by-IN-TECH

The GPA modules also allow modular combination. Figure 38(b) shows a complete 6-DOF arm including two controller boxes and an anthropomorphic hand. The controller boxes provide valves, pressure sensors and microcontrollers to operate the whole arm independently. The whole arm-hand system has a weight of 3.2*kg* and a overall length of

The future of robotics will require more and more inherent compliance. Inherent compliance can only be achieved by integrating elastic elements in the drive chain of a robotic system. Flexible Fluidic Actuators can be an appropriate solution for this problem. FFAs exhibit inherent compliance no matter if they are operated pneumatically or hydraulically. A big advantage is that FFAs do not require any transmission elements to create a rotary motion. The high torque-to-weight ratio make them suitable drives for robotics, prosthetics, orthotics, and general automation tasks. The modularity allows easy implementation of various kinematics, either for grippers and/or arms. The fluidic operation principle also make FFAs a very promising drive system for under water and deep sea operation. The challenges regarding fabrication and fatigue resistance of FFAs have been solved. The modeling and control approaches are very promising and the required control infrastructure will definitely shrink

The authors would like to thank all contributors and project partners. Especially we thank Maika Torge (Institute for Applied Materials/KIT) for her support regarding SEM analysis and tensile testing as well as Stefan Griebel (BMTI/TU Ilmenau) for his support regarding hyperelastic material modeling. This work was supported by the German Federal Ministry of Education and Research (BMBF) within the joint research project PortaSoR, Grants 16SV2290

I. Gaiser, R. Wiegand, O. Ivlev, A. Andres, H. Breitwieser, S. Schulz and G. Bretthauer

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*Company and University of Bremen, Institute of Automation (IAT), Germany*

URL: *http://dx.doi.org/10.1002/app.1986.070320530*

*Karlsruhe Institute of Technology (KIT), Institute for Applied Computer Science/Automation (AIA), Institute for Applied Computer Science (IAI); FWBI Friedrich-Wilhelm-Bessel-Institute Research*

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with future valve technologies and high-performance micro controllers.

620*mm*.

**10. Conclusions**

**Acknowledgments**


**Author details**

**11. References**

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turning rotary valves and the like.

and twistor drive assemblies.

*6493c32cdf2ed09e*

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