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Table 1 Seven variable structure states

From: Flexible Bio-tensegrity Manipulator with Multi-degree of Freedom and Variable Structure

States

Cable A state

Cable B state

Cable C state

Cable D state

Figure 5

R

R

R

R

Figure 6(a)

L

R

R

R

Figure 6(b)

R

L

R

R

Figure 6(c)

R

R

L

R

Figure 6(d)

R

R

R

L

Figure 6(e)

L

R

L

R

Figure 6(f)

R

L

R

L

  1. Note: R denotes the releasing state, L denotes the locking state