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However, this mechanical stability is very susceptible to actuation errors. It requires complex kinematics modeling and sophisticated control model with sensing feedback. Herein, a low\u2010inertia tensegrity joint that is covered\/protected by a fiber Bragg grating (FBG)\u2010embedded silicone sheath is proposed, with the aim to reinforce the joint motion stability and enable self\u2010contained sensing feedback. A learning\u2010based closed\u2010loop controller is also designed and trained with the proper joint configurations selected by a two\u2010step sampling method. Both the kinematics and static equilibriums of such configurations can be well satisfied. The experiments demonstrate that the joint can follow paths accurately in 2D by compensating manipulation error shortly under the closed\u2010loop control. The joint stiffness can also be varied against the external\/impulsive disturbances. It can be foreseen that this primitive robot joint component with 2 degrees of freedom (DoFs) can provide safe, compliant interaction with human, for which a simple test of maneuvering a portable ultrasound probe (\u2248210\u2009g) for abdominal imaging is demonstrated.<\/jats:p>","DOI":"10.1002\/aisy.202300079","type":"journal-article","created":{"date-parts":[[2023,7,16]],"date-time":"2023-07-16T13:41:03Z","timestamp":1689514863000},"update-policy":"https:\/\/doi.org\/10.1002\/crossmark_policy","source":"Crossref","is-referenced-by-count":8,"title":["A Tensegrity Joint for Low\u2010Inertia, Compact, and Compliant Soft Manipulators"],"prefix":"10.1002","volume":"6","author":[{"given":"Yifeng","family":"Hao","sequence":"first","affiliation":[{"name":"Department of Mechanical Engineering The University of Hong Kong  Hong Kong 999077 P. R. 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