Arque: Artificial Biomimicry Inspired Tail for Extending Innate Body Functions

For most mammals and vertebrate animals, tail plays an important role for their body providing variant functions to expand their mobility, or as a limb that allows manipulation and gripping. In this work, Arque, we propose an artificial biomimicryinspired anthropomorphic tail to allow us alter our body momentum for assistive, and haptic feedback applications. The proposed tail consists of adjacent joints with a springbased structure to handle shearing and tangential forces, and allow managing the length a