Articulation devices, systems, methods for articulation, and methods for fabricating articulation structures include simple balloon arrays, with inflation of the balloons interacting with elongate skeletal support structures so as to locally alter articulation of the skeleton. The balloons can be mounted to a substrate of the array, with the substrate having channels that can direct inflation fluid to a subset of the balloons. The articulation array may be formed using simple planar 3-D printing, extrusion, and/or laser micromachining. The skeleton may comprise a simple helical coil or interlocking helical channels, and the array can be used to locally deflect or elongate an axis of the coil under control of a processor. Liquid inflation fluid may be directed to the balloons from an inflation fluid canister, and may vaporize within the channels or balloons, the inflation system preferably including processor controlled valves. The articulation structures can be employed in medical catheter systems, industrial robotics, supporting imaging systems, and entertainment and consumer products.
