CT-Arm (short for coupled tendon-driven arm) is an articulated arm driven by wires. Since the motors are all located in the base, the links can be light-weight, and less energy is needed to move the arm. Equipped with several 2-DOF joints, CT-Arm is also able to navigate inside narrow 3D spaces.






The Fukushima version of CT-Arm was developed in cooperation with Shimizu Corporation, and consists of a base, from which CT-Arm is expanded. A large crane is used to support the base all around the outer perimeter of the damaged building, allowing the insertion of CT-Arm from several different points.
The tip of CT-Arm is equipped with several high-definition cameras and gamma ray sensors. These sensors have so far provided invaluable information about the damaged structure, from vantage points that cannot be reached with any other device.
Even though CT-Arm has seen much action in the harsh environment of the collapsed nuclear power plant, it can be applied also to other cases in which narrow entrances and debris make it difficult to enter and collect data.