{"status":"ok","message-type":"work","message-version":"1.0.0","message":{"indexed":{"date-parts":[[2026,6,15]],"date-time":"2026-06-15T21:55:33Z","timestamp":1781560533683,"version":"3.54.5"},"reference-count":41,"publisher":"SAGE Publications","issue":"2","license":[{"start":{"date-parts":[[2025,12,24]],"date-time":"2025-12-24T00:00:00Z","timestamp":1766534400000},"content-version":"tdm","delay-in-days":0,"URL":"https:\/\/journals.sagepub.com\/page\/policies\/text-and-data-mining-license"}],"funder":[{"DOI":"10.13039\/501100001809","name":"National Natural Science Foundation of China","doi-asserted-by":"crossref","award":["12232015"],"award-info":[{"award-number":["12232015"]}],"id":[{"id":"10.13039\/501100001809","id-type":"DOI","asserted-by":"crossref"}]},{"DOI":"10.13039\/501100001809","name":"National Natural Science Foundation of China","doi-asserted-by":"crossref","award":["12402047"],"award-info":[{"award-number":["12402047"]}],"id":[{"id":"10.13039\/501100001809","id-type":"DOI","asserted-by":"crossref"}]},{"DOI":"10.13039\/501100001809","name":"National Natural Science Foundation of China","doi-asserted-by":"crossref","award":["52472390"],"award-info":[{"award-number":["52472390"]}],"id":[{"id":"10.13039\/501100001809","id-type":"DOI","asserted-by":"crossref"}]},{"name":"Basic Science Center Program of the National Natural Science Foundation of China","award":["62388101"],"award-info":[{"award-number":["62388101"]}]}],"content-domain":{"domain":["journals.sagepub.com"],"crossmark-restriction":true},"short-container-title":["Soft Robotics"],"published-print":{"date-parts":[[2026,4,1]]},"abstract":"<jats:p>\n                    Tensegrity-based continuum manipulators (TCMs) are rigid-flexible coupling mechanisms that show great promise for applications in unstructured environments by actively or passively conforming to objects. However, the coupling effects of TCMs require significant effort in resolving the actuation redundancy for performing dexterous manipulation tasks. Inspired by the functions of the elephant trunk, this article proposes a modular TCM composed of preprogrammable bend-twist modules (PBTMs) that employ enhanced segmented actuation. This actuation strategy effectively decouples adjacent segments and separates curvature and directional control, simplifying both mechanical integration and control implementation. By designing a preprogramming template attached to the end module, various twisting motions can be achieved\n                    <jats:italic toggle=\"yes\">in situ<\/jats:italic>\n                    , achieving the multimodal deformation of the PBTM. In this setup, the manipulator is capable of bending or twisting in various planes, enabling the manipulator to better conform with objects of varying shape and pose. Then, we derived a dynamic model in terms of natural coordinates with clustered cable (CTC) elements to predict the configuration of the manipulator. Based on the numerical results, we analyze the effect of the CTCs\u2019 rest length on the cable slack phenomenon during the bending motion, as well as the\n                    <jats:italic toggle=\"yes\">in situ<\/jats:italic>\n                    preprogrammed twist motion of the manipulator. Finally, we fabricated a manipulator prototype consisting of two PBTMs and showcased its versatile multimodal deformation in experimental scenarios for object wrapping and obstacle avoidance. The experimental results demonstrate that our proposed modular TCM provides a feasible paradigm, which reduces the control complexity of the continuum manipulator system.\n                  <\/jats:p>","DOI":"10.1177\/21695172251406752","type":"journal-article","created":{"date-parts":[[2025,12,30]],"date-time":"2025-12-30T16:57:12Z","timestamp":1767113832000},"page":"324-335","update-policy":"https:\/\/doi.org\/10.1177\/sage-journals-update-policy","source":"Crossref","is-referenced-by-count":0,"title":["Multimodal Deformation in Tensegrity Manipulators: Preprogrammable Bend-Twist Modules for Dexterous Grasping Inspired by Elephant Trunks"],"prefix":"10.1177","volume":"13","author":[{"given":"Yanghui","family":"Chen","sequence":"first","affiliation":[{"name":"School of Aeronautics and Astronautics, Sun Yat-Sen University, Shenzhen, P.R. China."}],"role":[{"vocabulary":"crossref","role":"author"}]},{"given":"Jiafu","family":"Liu","sequence":"additional","affiliation":[{"name":"School of Aeronautics and Astronautics, Sun Yat-Sen University, Shenzhen, P.R. China."}],"role":[{"vocabulary":"crossref","role":"author"}]},{"given":"Jiahui","family":"Luo","sequence":"additional","affiliation":[{"name":"School of Aeronautics and Astronautics, Sun Yat-Sen University, Shenzhen, P.R. China."}],"role":[{"vocabulary":"crossref","role":"author"}]},{"given":"Xiaoming","family":"Xu","sequence":"additional","affiliation":[{"name":"School of Aeronautics and Astronautics, Sun Yat-Sen University, Shenzhen, P.R. China."},{"name":"Shenzhen Key Laboratory of Intelligent Microsatellite Constellation, Shenzhen Campus of Sun Yat-Sen University, Shenzhen, P.R. China."}],"role":[{"vocabulary":"crossref","role":"author"}]},{"given":"Jianping","family":"Jiang","sequence":"additional","affiliation":[{"name":"School of Aeronautics and Astronautics, Sun Yat-Sen University, Shenzhen, P.R. China."}],"role":[{"vocabulary":"crossref","role":"author"}]},{"given":"Jianfeng","family":"Lu","sequence":"additional","affiliation":[{"name":"School of Aeronautics and Astronautics, Sun Yat-Sen University, Shenzhen, P.R. China."}],"role":[{"vocabulary":"crossref","role":"author"}]}],"member":"179","published-online":{"date-parts":[[2025,12,24]]},"reference":[{"key":"e_1_3_2_2_2","doi-asserted-by":"publisher","DOI":"10.1109\/ROBOT.1999.774029"},{"key":"e_1_3_2_3_2","doi-asserted-by":"publisher","DOI":"10.1089\/soro.2020.0170"},{"key":"e_1_3_2_4_2","article-title":"Design of an environmentally interactive continuum manipulator","author":"Bakker DL","year":"2015","unstructured":"Bakker DL, , Matsuura D, , Takeda Y, et al. 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