A robot arm formed of a bundle of adjacent elastomeric tubes supplied independently with fluid pressure to force bending, extension or contraction. The tubes are maintained in parallel alignment by means of spaced apart parallel ribs through which the tubes pass. Parallel, spaced apart, rods extending...http://www.google.fr/patents/US4551061?utm_source=gb-gplus-shareBrevet US4551061 - Flexible, extensible robot arm
