Pub Date : 2023-04-03DOI: 10.1109/RoboSoft55895.2023.10122058
Jérémy Sand, Benoit Wach, Maciej Bednarczyk, L. Barbé, F. Geiskopf
This paper presents a method for manufacturing a soft pneumatic linear actuator. The linear actuator is based on a deformable chamber reinforced by a cylindrical auxetic structure. The objective of this work is to create a hermetic silicone chamber inside the auxetic structure previously machined in PVC. The manufacturing process is based on 3D silicone printing using an anthropomorphic robotic arm. The proposed strategy increases the versatility of the process compared to overmolding strategies, especially in regard to the dimensions of the actuator. In this paper we present an experimental setup integrating a robotic arm, the system for the registration of the different elements and the control of the print head trajectories. The actuator has been designed, built and implemented, allowing us to evaluate its performances and life span.
{"title":"Robotized additive manufacturing of silicone for skeleton-reinforced linear soft actuators","authors":"Jérémy Sand, Benoit Wach, Maciej Bednarczyk, L. Barbé, F. Geiskopf","doi":"10.1109/RoboSoft55895.2023.10122058","DOIUrl":"https://doi.org/10.1109/RoboSoft55895.2023.10122058","url":null,"abstract":"This paper presents a method for manufacturing a soft pneumatic linear actuator. The linear actuator is based on a deformable chamber reinforced by a cylindrical auxetic structure. The objective of this work is to create a hermetic silicone chamber inside the auxetic structure previously machined in PVC. The manufacturing process is based on 3D silicone printing using an anthropomorphic robotic arm. The proposed strategy increases the versatility of the process compared to overmolding strategies, especially in regard to the dimensions of the actuator. In this paper we present an experimental setup integrating a robotic arm, the system for the registration of the different elements and the control of the print head trajectories. The actuator has been designed, built and implemented, allowing us to evaluate its performances and life span.","PeriodicalId":250981,"journal":{"name":"2023 IEEE International Conference on Soft Robotics (RoboSoft)","volume":"4 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2023-04-03","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"123459518","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pub Date : 2023-04-03DOI: 10.1109/RoboSoft55895.2023.10122031
Guan Erjiage, John Nassour, Gordon Cheng
This paper presents a fully integrated soft-hand exoskeleton enabling automated grasping and releasing functions thanks to the multi-sensory fusion. We use enfolded soft textile actuators to assist the hand, IMU sensors for the arm and hand orientations, and customized soft sensors for tactile feedback from the fingers. We propose a state machine controller that uses the information from tactile sensors and the IMUs to switch between different states to trigger grasping and releasing. The control strategy requires no additional user input; it is designed for meal-eating scenarios. Ten healthy participants instructed not to move their hands tested the system performing 190 trials on five tasks: pouring, drinking, eating a fruit, using a fork, and using a spoon. Objects are randomly placed in four different locations in front of the participant. 97.4% of the trials were successfully accomplished. Furthermore, 78.1% grasps and 83.8% releases are triggered by the first attempt. Compared with no assistant condition of a healthy hand, the system reduced 32.2% of muscle activities and required 2.57 more times to finish the task.
{"title":"Multi-sensory fusion of wearable sensors for automatic grasping and releasing with soft-hand exoskeleton","authors":"Guan Erjiage, John Nassour, Gordon Cheng","doi":"10.1109/RoboSoft55895.2023.10122031","DOIUrl":"https://doi.org/10.1109/RoboSoft55895.2023.10122031","url":null,"abstract":"This paper presents a fully integrated soft-hand exoskeleton enabling automated grasping and releasing functions thanks to the multi-sensory fusion. We use enfolded soft textile actuators to assist the hand, IMU sensors for the arm and hand orientations, and customized soft sensors for tactile feedback from the fingers. We propose a state machine controller that uses the information from tactile sensors and the IMUs to switch between different states to trigger grasping and releasing. The control strategy requires no additional user input; it is designed for meal-eating scenarios. Ten healthy participants instructed not to move their hands tested the system performing 190 trials on five tasks: pouring, drinking, eating a fruit, using a fork, and using a spoon. Objects are randomly placed in four different locations in front of the participant. 97.4% of the trials were successfully accomplished. Furthermore, 78.1% grasps and 83.8% releases are triggered by the first attempt. Compared with no assistant condition of a healthy hand, the system reduced 32.2% of muscle activities and required 2.57 more times to finish the task.","PeriodicalId":250981,"journal":{"name":"2023 IEEE International Conference on Soft Robotics (RoboSoft)","volume":"24 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2023-04-03","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"125278143","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pub Date : 2023-04-03DOI: 10.1109/RoboSoft55895.2023.10121947
Hsing-Yu Chen, A. Keller, A. Conn, J. Rossiter
The development of green batteries has implications for many fields including sustainable robotics and edible electronics. Here we present GelBat, a biodegradable, digestible and rechargeable battery constructed from gelatin and activated carbon. The device utilises the water splitting reaction to produce a simple, sustainable Bacon fuel cell which can produce an output voltage of over 1V for 10 minutes, depending on the load resistance, with 10 minutes of charging and whose only byproduct is water. Electrochemical impedance spectroscopy, cyclic voltammetry and self discharge tests are carried out to characterize the behaviour of the battery. The system does not lose any efficiency with repeated recharging cycles and can be completely dissolved in a simulated gastric fluid within 20 minutes. The simplicity of this design combined with the bioresorbable materials demonstrates the potential of this work to help advance robotic research towards more sustainable untethered autonomous systems and edible robots.
{"title":"GelBat: An Edible Gelatin-Based Battery","authors":"Hsing-Yu Chen, A. Keller, A. Conn, J. Rossiter","doi":"10.1109/RoboSoft55895.2023.10121947","DOIUrl":"https://doi.org/10.1109/RoboSoft55895.2023.10121947","url":null,"abstract":"The development of green batteries has implications for many fields including sustainable robotics and edible electronics. Here we present GelBat, a biodegradable, digestible and rechargeable battery constructed from gelatin and activated carbon. The device utilises the water splitting reaction to produce a simple, sustainable Bacon fuel cell which can produce an output voltage of over 1V for 10 minutes, depending on the load resistance, with 10 minutes of charging and whose only byproduct is water. Electrochemical impedance spectroscopy, cyclic voltammetry and self discharge tests are carried out to characterize the behaviour of the battery. The system does not lose any efficiency with repeated recharging cycles and can be completely dissolved in a simulated gastric fluid within 20 minutes. The simplicity of this design combined with the bioresorbable materials demonstrates the potential of this work to help advance robotic research towards more sustainable untethered autonomous systems and edible robots.","PeriodicalId":250981,"journal":{"name":"2023 IEEE International Conference on Soft Robotics (RoboSoft)","volume":"338 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2023-04-03","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"122542187","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pub Date : 2023-04-03DOI: 10.1109/RoboSoft55895.2023.10122015
H. Chu, B. Caasenbrood, Mahboubeh Keyvanara, I. A. Kuling, H. Nijmeijer
Soft robotics is a branch of robotics that aims to emulate nature by exploring so-called soft materials. By utilizing the embedded softness, various degrees of dexterity in grasping can be achieved without the need for advanced controllers. However, when compared to nature (and modern rigid robots), comparable levels of dexterity and object manipulation are still lacking. For example, when considering the elephant's trunk, whole-body manipulation and sensory feedback are explored to achieve simultaneous, robust, and adaptive grasping. In this work, we incorporate closed-loop control into soft robotic grasping. Using passivity-based control, we achieve whole-body grasping for planar, slender, soft manipulators with torque actuation. Our approach also accounts for the underactuation present in these systems and adapts the grasping strategy accordingly. Furthermore, we explore damping injection without velocity measurements to enhance the attenuation of undesired oscillatory motion. The performance of the closed-loop system is evaluated through simulation and experiments.
{"title":"Full-body Grasping Strategy for Planar Underactuated Soft Manipulators using Passivity-based Control","authors":"H. Chu, B. Caasenbrood, Mahboubeh Keyvanara, I. A. Kuling, H. Nijmeijer","doi":"10.1109/RoboSoft55895.2023.10122015","DOIUrl":"https://doi.org/10.1109/RoboSoft55895.2023.10122015","url":null,"abstract":"Soft robotics is a branch of robotics that aims to emulate nature by exploring so-called soft materials. By utilizing the embedded softness, various degrees of dexterity in grasping can be achieved without the need for advanced controllers. However, when compared to nature (and modern rigid robots), comparable levels of dexterity and object manipulation are still lacking. For example, when considering the elephant's trunk, whole-body manipulation and sensory feedback are explored to achieve simultaneous, robust, and adaptive grasping. In this work, we incorporate closed-loop control into soft robotic grasping. Using passivity-based control, we achieve whole-body grasping for planar, slender, soft manipulators with torque actuation. Our approach also accounts for the underactuation present in these systems and adapts the grasping strategy accordingly. Furthermore, we explore damping injection without velocity measurements to enhance the attenuation of undesired oscillatory motion. The performance of the closed-loop system is evaluated through simulation and experiments.","PeriodicalId":250981,"journal":{"name":"2023 IEEE International Conference on Soft Robotics (RoboSoft)","volume":"2 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2023-04-03","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"117083694","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pub Date : 2023-04-03DOI: 10.1109/RoboSoft55895.2023.10122045
Ting Rang Ling, Mohammed Ayoub Juman, S. Nurzaman, Chee Pin Tan
Soft grippers have gained a lot of interest in the last decade. In addition to firmly grasping an object, the estimation of its hardness is also an important aspect in various soft robotic applications. This study proposes a shape-invariant indirect hardness estimation approach for a soft vacuum-actuated gripper with an embedded depth camera. The technique proposed herein would eliminate the need for invasive sensors, which may damage certain objects. The project focuses on a simultaneous grasping and sensing system for deformable objects, without visible markers on the gripper's membrane. The deformation of membrane, containing valuable information on the object's properties, is captured by a depth camera inside the gripper. A convolutional neural network-based hardness prediction model is created with a mean absolute percentage error (MAPE) of 0.37%, in the case of trained shapes and trained hardnesses. For untrained hardnesses, the error is observed to be 4.54%. Through comparison with conventional grayscale images, the experiments also showed that images with depth information are more preferable for hardness estimation.
{"title":"Shape-invariant Indirect Hardness Estimation for a Soft Vacuum-actuated Gripper with an Onboard Depth Camera","authors":"Ting Rang Ling, Mohammed Ayoub Juman, S. Nurzaman, Chee Pin Tan","doi":"10.1109/RoboSoft55895.2023.10122045","DOIUrl":"https://doi.org/10.1109/RoboSoft55895.2023.10122045","url":null,"abstract":"Soft grippers have gained a lot of interest in the last decade. In addition to firmly grasping an object, the estimation of its hardness is also an important aspect in various soft robotic applications. This study proposes a shape-invariant indirect hardness estimation approach for a soft vacuum-actuated gripper with an embedded depth camera. The technique proposed herein would eliminate the need for invasive sensors, which may damage certain objects. The project focuses on a simultaneous grasping and sensing system for deformable objects, without visible markers on the gripper's membrane. The deformation of membrane, containing valuable information on the object's properties, is captured by a depth camera inside the gripper. A convolutional neural network-based hardness prediction model is created with a mean absolute percentage error (MAPE) of 0.37%, in the case of trained shapes and trained hardnesses. For untrained hardnesses, the error is observed to be 4.54%. Through comparison with conventional grayscale images, the experiments also showed that images with depth information are more preferable for hardness estimation.","PeriodicalId":250981,"journal":{"name":"2023 IEEE International Conference on Soft Robotics (RoboSoft)","volume":"29 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2023-04-03","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"128556097","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pub Date : 2023-04-03DOI: 10.1109/RoboSoft55895.2023.10122040
M. Mete, Jian-Lin Huang, J. Paik
Dynamic modeling of folding joints is critical for predicting dynamic behavior, optimizing design parameters, and developing control strategies for origami robots and machines. Although kinematics of the folded joints exists, little research describes their dynamics. Currently, prevailing models neglect the stiffness of the hinges by making zero-thickness assumption or ignore physical factors such as gravity and friction. In this work, we focus on the dynamic modeling of an origami prismatic joint with rotary-to-translational transmission by using the Newton-Euler method and pseudo-rigid-body-approximation. We provide a comprehensive dynamic model by including gravity, friction, and hinge parameters. We validate the model in an all-inclusive experimental setup addressing static, quasi-static, and dynamic conditions. Our proposed model successfully predicts the dynamics and structural stiffness of the joint. This novel model can be combined with other origami-joint models, such as pin and spherical joint models, to allow model-based design and control strategies for desired output performance of origami robots.
{"title":"Dynamic Modeling of an Origami Prismatic Joint","authors":"M. Mete, Jian-Lin Huang, J. Paik","doi":"10.1109/RoboSoft55895.2023.10122040","DOIUrl":"https://doi.org/10.1109/RoboSoft55895.2023.10122040","url":null,"abstract":"Dynamic modeling of folding joints is critical for predicting dynamic behavior, optimizing design parameters, and developing control strategies for origami robots and machines. Although kinematics of the folded joints exists, little research describes their dynamics. Currently, prevailing models neglect the stiffness of the hinges by making zero-thickness assumption or ignore physical factors such as gravity and friction. In this work, we focus on the dynamic modeling of an origami prismatic joint with rotary-to-translational transmission by using the Newton-Euler method and pseudo-rigid-body-approximation. We provide a comprehensive dynamic model by including gravity, friction, and hinge parameters. We validate the model in an all-inclusive experimental setup addressing static, quasi-static, and dynamic conditions. Our proposed model successfully predicts the dynamics and structural stiffness of the joint. This novel model can be combined with other origami-joint models, such as pin and spherical joint models, to allow model-based design and control strategies for desired output performance of origami robots.","PeriodicalId":250981,"journal":{"name":"2023 IEEE International Conference on Soft Robotics (RoboSoft)","volume":"1 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2023-04-03","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"124372027","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pub Date : 2023-04-03DOI: 10.1109/RoboSoft55895.2023.10121937
Atsushi Kaneko, D. Owaki, M. Shimizu, T. Umedachi
Bio-inspired soft robotic legs can be designed by utilizing continuous deformation to perform desired functions such as increasing propulsion force. Previous studies of legged robots have improved locomotion performance by simplifying animal legs as a single spring and mimicking the function of its elasticity during locomotion. This study proposes a one-piece 3D-printed leg that can kick the ground backward strongly by increasing the horizontal component of the elastic force (i.e., by designing two-dimensional elasticity). The geometry and stiffness of the leg were optimized via a combination of physical simulation and a genetic algorithm to achieve the function. Experiments using a prototype hexapod robot were conducted to compare a leg designed using the proposed method and two additional deteriorated types of legs by measuring locomotion speed. Angle of attack (angle at which the legs touch the ground) was also changed in this experiment. The experimental results indicate that designing the two-dimensional elasticity of legs can contribute to increasing propulsion force, resulting in higher locomotion speed. This study suggests that soft robotic parts with various functions, such as hands and arms, can be designed using continuous deformation and one-piece 3D-printed parts.
{"title":"One-Piece 3D-Printed Legs Using Compliant Mechanisms That Produce Effective Propulsive Force for Hexapod Robot Locomotion","authors":"Atsushi Kaneko, D. Owaki, M. Shimizu, T. Umedachi","doi":"10.1109/RoboSoft55895.2023.10121937","DOIUrl":"https://doi.org/10.1109/RoboSoft55895.2023.10121937","url":null,"abstract":"Bio-inspired soft robotic legs can be designed by utilizing continuous deformation to perform desired functions such as increasing propulsion force. Previous studies of legged robots have improved locomotion performance by simplifying animal legs as a single spring and mimicking the function of its elasticity during locomotion. This study proposes a one-piece 3D-printed leg that can kick the ground backward strongly by increasing the horizontal component of the elastic force (i.e., by designing two-dimensional elasticity). The geometry and stiffness of the leg were optimized via a combination of physical simulation and a genetic algorithm to achieve the function. Experiments using a prototype hexapod robot were conducted to compare a leg designed using the proposed method and two additional deteriorated types of legs by measuring locomotion speed. Angle of attack (angle at which the legs touch the ground) was also changed in this experiment. The experimental results indicate that designing the two-dimensional elasticity of legs can contribute to increasing propulsion force, resulting in higher locomotion speed. This study suggests that soft robotic parts with various functions, such as hands and arms, can be designed using continuous deformation and one-piece 3D-printed parts.","PeriodicalId":250981,"journal":{"name":"2023 IEEE International Conference on Soft Robotics (RoboSoft)","volume":"27 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2023-04-03","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"134112587","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pub Date : 2023-04-03DOI: 10.1109/RoboSoft55895.2023.10122037
Kai Junge, Josie Hughes
When humans perform dynamic motions such as throwing, the passive properties such as the stiffness and damping of their arm is known to contribute to the task performance. By developing a robot arm which enables the stiffness of the different joints to be set programmatically, its contribution to the throwing behaviours can be determined. In addition to enabling new capabilities in robots this can also be useful for understanding how humans may perform such tasks. Utilizing permanent magnet synchronous motors (PMSM) and integrating them in back-drivable configurations we present a method of achieving programmable, precise, high bandwidth stiffness control. With a two joint variable stiffness arm, we experimentally explore the role of stiffness and coordination of actuation timings for the throwing of a Frisbee disk. From this exploration key trends between stiffness and the throwing distance and angle are observed. Considering variable stiffness (VS) we also see that the role and significance of VS varies depending on the overall energy levels of the system. For low energies, having a constant torque profile can enable a 30% increase in throwing distance, where as at higher energies VS is less significant. When compared to human throwers, the robot performs comparable to experienced humans for a short distance throwing task.
{"title":"Exploring Dynamically Controlled Frisbee Throws Using a Highly Compliant Robotic Arm","authors":"Kai Junge, Josie Hughes","doi":"10.1109/RoboSoft55895.2023.10122037","DOIUrl":"https://doi.org/10.1109/RoboSoft55895.2023.10122037","url":null,"abstract":"When humans perform dynamic motions such as throwing, the passive properties such as the stiffness and damping of their arm is known to contribute to the task performance. By developing a robot arm which enables the stiffness of the different joints to be set programmatically, its contribution to the throwing behaviours can be determined. In addition to enabling new capabilities in robots this can also be useful for understanding how humans may perform such tasks. Utilizing permanent magnet synchronous motors (PMSM) and integrating them in back-drivable configurations we present a method of achieving programmable, precise, high bandwidth stiffness control. With a two joint variable stiffness arm, we experimentally explore the role of stiffness and coordination of actuation timings for the throwing of a Frisbee disk. From this exploration key trends between stiffness and the throwing distance and angle are observed. Considering variable stiffness (VS) we also see that the role and significance of VS varies depending on the overall energy levels of the system. For low energies, having a constant torque profile can enable a 30% increase in throwing distance, where as at higher energies VS is less significant. When compared to human throwers, the robot performs comparable to experienced humans for a short distance throwing task.","PeriodicalId":250981,"journal":{"name":"2023 IEEE International Conference on Soft Robotics (RoboSoft)","volume":"08 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2023-04-03","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"131242300","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pub Date : 2023-04-03DOI: 10.1109/RoboSoft55895.2023.10122046
Maziar Arfaee, J. Kluin, Johannes T. B. Overvelde
Pouch motors are one of the recently developed soft actuators, which are known particularly for their low-weight, ease of fabrication and large stroke. To date, several studies have been performed to develop and model new pouch motors designs to improve their functionality. All models assume that the material is behaving inextensibly, i.e. not stretchable. Here, we propose an analytical model for pouch motors where we consider the materials to be stretchable, and show that stretchability of pouch motors sets a limit for the maximum contraction and force, and therefore cannot be neglected even when using nearly inextensible materials. We evaluate our model qualitatively by conducting ‘blocked-displacement’ experiments on single pouches made of various materials with different elasticity.
{"title":"Modeling the behavior of elastic pouch motors","authors":"Maziar Arfaee, J. Kluin, Johannes T. B. Overvelde","doi":"10.1109/RoboSoft55895.2023.10122046","DOIUrl":"https://doi.org/10.1109/RoboSoft55895.2023.10122046","url":null,"abstract":"Pouch motors are one of the recently developed soft actuators, which are known particularly for their low-weight, ease of fabrication and large stroke. To date, several studies have been performed to develop and model new pouch motors designs to improve their functionality. All models assume that the material is behaving inextensibly, i.e. not stretchable. Here, we propose an analytical model for pouch motors where we consider the materials to be stretchable, and show that stretchability of pouch motors sets a limit for the maximum contraction and force, and therefore cannot be neglected even when using nearly inextensible materials. We evaluate our model qualitatively by conducting ‘blocked-displacement’ experiments on single pouches made of various materials with different elasticity.","PeriodicalId":250981,"journal":{"name":"2023 IEEE International Conference on Soft Robotics (RoboSoft)","volume":"75 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2023-04-03","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"124708272","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pub Date : 2023-04-03DOI: 10.1109/RoboSoft55895.2023.10122008
Cole Sterck, Olivia Kim, T. Anton, M. Fok
In this paper, the design and demonstration of a shape-forming soft gripper with a donut body is explored. The vacuum-powered donut soft gripper has a 2.50 mm thick silicone membrane and is filled with 7.50 g of polyester fiberfill to allow shape-forming around the target object. Unlike other vacuum-powered soft grippers where the interior materials are mostly hard, our donut soft robot is inspired by a vacuum bedding storage bag, which provides a soft touch to the target object while allowing the gripper to form the required shape around the target object when actuated. Polyester fiberfill contains excelling flexibility and resiliency, it can easily deform based on its surroundings but also return to its original shape quickly when the external force is removed, making it a promising candidate for a shape forming soft gripper. The donut soft gripper's physical attributes include four indents at the base, with an outer diameter of 84.62 mm, inner diameter of 12.92 mm, and thickness of 40.00 mm. With the donut robot filled with polyester fiberfill, the donut parameters are optimized for bearing weight and has the best shape forming ability. The donut soft robot is capable of securely holding objects of different shapes, including a miniature teapot, a polygon ball, a Lego block, a spice bottle, as well as soft objects like a tomato.
{"title":"Shape-Forming Donut-Shaped Soft Gripper","authors":"Cole Sterck, Olivia Kim, T. Anton, M. Fok","doi":"10.1109/RoboSoft55895.2023.10122008","DOIUrl":"https://doi.org/10.1109/RoboSoft55895.2023.10122008","url":null,"abstract":"In this paper, the design and demonstration of a shape-forming soft gripper with a donut body is explored. The vacuum-powered donut soft gripper has a 2.50 mm thick silicone membrane and is filled with 7.50 g of polyester fiberfill to allow shape-forming around the target object. Unlike other vacuum-powered soft grippers where the interior materials are mostly hard, our donut soft robot is inspired by a vacuum bedding storage bag, which provides a soft touch to the target object while allowing the gripper to form the required shape around the target object when actuated. Polyester fiberfill contains excelling flexibility and resiliency, it can easily deform based on its surroundings but also return to its original shape quickly when the external force is removed, making it a promising candidate for a shape forming soft gripper. The donut soft gripper's physical attributes include four indents at the base, with an outer diameter of 84.62 mm, inner diameter of 12.92 mm, and thickness of 40.00 mm. With the donut robot filled with polyester fiberfill, the donut parameters are optimized for bearing weight and has the best shape forming ability. The donut soft robot is capable of securely holding objects of different shapes, including a miniature teapot, a polygon ball, a Lego block, a spice bottle, as well as soft objects like a tomato.","PeriodicalId":250981,"journal":{"name":"2023 IEEE International Conference on Soft Robotics (RoboSoft)","volume":"34 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2023-04-03","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"129885318","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
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