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SHAFT: A Slack-Compensating, Helical-Buckling-Attenuating Flexible-Shaft Transmission for Lightweight Multi-DoF Manipulation

arXiv · AI, language, vision and robotics · article · Sep 19, 2026 · UTC

Lightweight and slim manipulators enable safe operation in human living environments. Proximal actuation using remote transmission mechanisms, such as wire-driven or Bowden cables, effectively reduces inertia and arm size by relocating motors near the base and transmitting torque to distal joints. Existing approaches either increase mass through additional components, such as pulleys for direction changes, or suffer from reduced transmission efficiency due to friction losses. Flexible shaft transmission avoids both mass increase and excessive friction losses, but faces increasing angular trans

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