US Patent 11998856 Conical-shaped articulated member

Aspects of the disclosure relate to a conical-shaped articulated member. The conical-shaped articulated member includes a conical-shaped structure including an inner surface and an outer surface. The conical-shaped articulated member further includes a plurality of rotary actuation units disposed along a length of the conical-shaped structure, where at least two rotary actuation units of the plurality of rotary actuation units are coupled together. The plurality of rotary actuation units are configured to perform one or more motions.