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

arXiv:2609.22677 · cs.RO · Submitted 2026-09-19 · Read on arXiv

cs.RO

Submitted: 2026-09-19

Updated: 2026-09-19

Comments: 9 pages, 14 figures, submitted as proceedings of IROS2026

License: http://arxiv.org/licenses/nonexclusive-distrib/1.0/

Terminology

• Accuracy — 5× in this paper · explained in 1 episode
• Alignment — 1× in this paper · explained in 1 episode
• Angular Error — 1× in this paper · explained in 1 episode
• Core — 1× in this paper · explained in 2 episodes
• Decoupling — 1× in this paper · explained in 2 episodes

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