Pub Date : 2023-04-03DOI: 10.1109/RoboSoft55895.2023.10121980
Ming Gu, T. Echtermeyer
Energy sustainability poses a great challenge in miniaturised soft robotics. Light, as renewable and clean energy, is promising to power, actuate and control such robots. However, efficient, high-speed and high-power actuators operating on light-provided power are still in their infancy and subject to intensive research. Here, we demonstrate photo-thermal bimorph actuators based on polydimethylsiloxane (PDMS), graphene (G), and muscovite mica. The PDMS/G/Mica photo-thermal actuator converts light efficiently to displacement and force. Under illumination, the PDMS/G/Mica actuators achieve a large curvature change of 0.76 mm-1at moderate light intensities of 150 mW/cm2, beyond that of most photo-thermal actuators reported in the literature so far. The actuators are further integrated into bio-inspired, photo-responsive soft robotic structures such as flower petals and inchworms to demonstrate their suitability for various future applications.
{"title":"Bio-Inspired Miniature Soft Robots Fueled By Light","authors":"Ming Gu, T. Echtermeyer","doi":"10.1109/RoboSoft55895.2023.10121980","DOIUrl":"https://doi.org/10.1109/RoboSoft55895.2023.10121980","url":null,"abstract":"Energy sustainability poses a great challenge in miniaturised soft robotics. Light, as renewable and clean energy, is promising to power, actuate and control such robots. However, efficient, high-speed and high-power actuators operating on light-provided power are still in their infancy and subject to intensive research. Here, we demonstrate photo-thermal bimorph actuators based on polydimethylsiloxane (PDMS), graphene (G), and muscovite mica. The PDMS/G/Mica photo-thermal actuator converts light efficiently to displacement and force. Under illumination, the PDMS/G/Mica actuators achieve a large curvature change of 0.76 mm-1at moderate light intensities of 150 mW/cm2, beyond that of most photo-thermal actuators reported in the literature so far. The actuators are further integrated into bio-inspired, photo-responsive soft robotic structures such as flower petals and inchworms to demonstrate their suitability for various future applications.","PeriodicalId":250981,"journal":{"name":"2023 IEEE International Conference on Soft Robotics (RoboSoft)","volume":"20 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":"129100877","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/RoboSoft55895.2023.10121929
Qianyi Chen, D. Schott, J. Jovanova
Soft grippers show adaptability and flexibility in grasping irregularly shaped and fragile objects. However, the soft grippers' low loading capacity and limited shaped fitting ability are the main limitations for developing large-scale applications, especially for heavy objects and objects with sharp edges. The particle jamming effect has emerged as an essential actuation method to adjust the stiffness of soft grippers and enhance the lifting force applied to heavy objects. However, in many large and more serious practical grasping applications, soft actuators are expected to show large scales and several-fold stiffness change, which is challenging to achieve the jamming effect in pneumatic or hydraulic systems. In this paper, a novel active particle jamming method is proposed for the design of a particle jamming-based soft gripper. The proposed method uses active hydrogel particles instead of vacuum pressure to achieve the jamming effect. Additionally, the bending behaviors are implemented based on the jamming effect and actuator design. The numerical model is carried out to explore the actuator behaviors, and a brief experiment case is conducted to verify the feasibility. The results indicated that the proposed actuator achieves the functionality of bending actions by swelling the hydrogel particles. The bending performance is enhanced by lowering the trigging temperature and increasing the thickness of the strain-limit layer. Additionally, there is a transition state from bending to curling when increasing the layer of particles.
{"title":"Are active soft particles suitable for particle jamming actuators?","authors":"Qianyi Chen, D. Schott, J. Jovanova","doi":"10.1109/RoboSoft55895.2023.10121929","DOIUrl":"https://doi.org/10.1109/RoboSoft55895.2023.10121929","url":null,"abstract":"Soft grippers show adaptability and flexibility in grasping irregularly shaped and fragile objects. However, the soft grippers' low loading capacity and limited shaped fitting ability are the main limitations for developing large-scale applications, especially for heavy objects and objects with sharp edges. The particle jamming effect has emerged as an essential actuation method to adjust the stiffness of soft grippers and enhance the lifting force applied to heavy objects. However, in many large and more serious practical grasping applications, soft actuators are expected to show large scales and several-fold stiffness change, which is challenging to achieve the jamming effect in pneumatic or hydraulic systems. In this paper, a novel active particle jamming method is proposed for the design of a particle jamming-based soft gripper. The proposed method uses active hydrogel particles instead of vacuum pressure to achieve the jamming effect. Additionally, the bending behaviors are implemented based on the jamming effect and actuator design. The numerical model is carried out to explore the actuator behaviors, and a brief experiment case is conducted to verify the feasibility. The results indicated that the proposed actuator achieves the functionality of bending actions by swelling the hydrogel particles. The bending performance is enhanced by lowering the trigging temperature and increasing the thickness of the strain-limit layer. Additionally, there is a transition state from bending to curling when increasing the layer of particles.","PeriodicalId":250981,"journal":{"name":"2023 IEEE International Conference on Soft Robotics (RoboSoft)","volume":"3 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":"129151889","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/RoboSoft55895.2023.10122072
Nathaniel Fino, Zane A. Zook, Barclay Jumet, D. J. Preston, M. O'Malley
Vibration is ubiquitous as a mode of haptic communication, and is used widely in handheld devices to convey events and notifications. The miniaturization of electromechanical actuators that are used to generate these vibrations has enabled designers to embed such actuators in wearable devices, conveying vibration at the wrist and other locations on the body. However, the rigid housings of these actuators mean that such wearables cannot be fully soft and compliant at the interface with the user. Fluidic textile-based wearables offer an alternative mechanism for haptic feedback in a fabric-like form factor. To our knowledge, fluidically driven vibrotactile feedback has not been demonstrated in a wearable device without the use of valves, which can only enable low-frequency vibration cues and detract from wearability due to their rigid structure. We introduce a soft vibrotactile wearable, made of textile and elastomer, capable of rendering high-frequency vibration. We describe our design and fabrication methods and the mechanism of vibration, which is realized by controlling inlet pressure and harnessing a mechanical hysteresis. We demonstrate that the frequency and amplitude of vibration produced by our device can be varied based on changes in the input pressure, with 0.3 to 1.4 bar producing vibrations that range between 160 and 260 Hz at 13 to 38 g, the acceleration due to gravity. Our design allows for controllable vibrotactile feedback that is comparable in frequency and outperforms in amplitude relative to electromechanical actuators, yet has the compliance and conformity of fully soft wearable devices.
{"title":"A Soft Approach to Convey Vibrotactile Feedback in Wearables Through Mechanical Hysteresis","authors":"Nathaniel Fino, Zane A. Zook, Barclay Jumet, D. J. Preston, M. O'Malley","doi":"10.1109/RoboSoft55895.2023.10122072","DOIUrl":"https://doi.org/10.1109/RoboSoft55895.2023.10122072","url":null,"abstract":"Vibration is ubiquitous as a mode of haptic communication, and is used widely in handheld devices to convey events and notifications. The miniaturization of electromechanical actuators that are used to generate these vibrations has enabled designers to embed such actuators in wearable devices, conveying vibration at the wrist and other locations on the body. However, the rigid housings of these actuators mean that such wearables cannot be fully soft and compliant at the interface with the user. Fluidic textile-based wearables offer an alternative mechanism for haptic feedback in a fabric-like form factor. To our knowledge, fluidically driven vibrotactile feedback has not been demonstrated in a wearable device without the use of valves, which can only enable low-frequency vibration cues and detract from wearability due to their rigid structure. We introduce a soft vibrotactile wearable, made of textile and elastomer, capable of rendering high-frequency vibration. We describe our design and fabrication methods and the mechanism of vibration, which is realized by controlling inlet pressure and harnessing a mechanical hysteresis. We demonstrate that the frequency and amplitude of vibration produced by our device can be varied based on changes in the input pressure, with 0.3 to 1.4 bar producing vibrations that range between 160 and 260 Hz at 13 to 38 g, the acceleration due to gravity. Our design allows for controllable vibrotactile feedback that is comparable in frequency and outperforms in amplitude relative to electromechanical actuators, yet has the compliance and conformity of fully soft wearable devices.","PeriodicalId":250981,"journal":{"name":"2023 IEEE International Conference on Soft Robotics (RoboSoft)","volume":"42 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":"125554694","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/RoboSoft55895.2023.10122042
Steeve Mbakop, G. Tagne, Alice Lagache, K. Youcef-Toumi, R. Merzouki
In this paper, an integrated design of a soft gripper is described for an efficient mushrooms harvesting. The soft gripper is made up multi-phalanges soft fingers in order to address the shape adaptability issues regarding the form enclosure grasping strategy. The shape kinematics of these soft fingers has been described using parametric curves, namely the Pythagorean Hodograph (PH) curves, with a prescribed length. This has enabled a Reduced Order Modeling (ROM) by using a few number of geometric control points. Then, Euler-Bernoulli (EB) modeling technique has been applied to these curves to estimate the actuation control inputs, allowing the mushrooms to be grasped under optimal safety conditions. The real-time grasping control issues based on the sliding Mode, have been discussed using a combined action of the attractive and repulsive Artificial Potential Field (APF), used to drive the soft gripper to the mushroom target. This control has been applied to the virtual control points of their representative PH curves, and yielded an accurate positioning of the soft gripper during the grasping process. The safety and the quality of the mushroom during the harvesting has been guaranteed by the presence of the contact force sensors, as well as the hyper-elastic material constituting each soft finger. The above strategy keeps the harvested mushroom safe during the grasping and therefore, enables a real-time shape control for a form enclosure soft grasping. The results of the proposed technique have been experimentally assessed using a 3-fingers soft gripper made up of Fluidic Elastomeric Actuators (FEAs) in an agriculture fresh mushrooms farm.
{"title":"Integrated design of a bio-inspired soft gripper for mushrooms harvesting","authors":"Steeve Mbakop, G. Tagne, Alice Lagache, K. Youcef-Toumi, R. Merzouki","doi":"10.1109/RoboSoft55895.2023.10122042","DOIUrl":"https://doi.org/10.1109/RoboSoft55895.2023.10122042","url":null,"abstract":"In this paper, an integrated design of a soft gripper is described for an efficient mushrooms harvesting. The soft gripper is made up multi-phalanges soft fingers in order to address the shape adaptability issues regarding the form enclosure grasping strategy. The shape kinematics of these soft fingers has been described using parametric curves, namely the Pythagorean Hodograph (PH) curves, with a prescribed length. This has enabled a Reduced Order Modeling (ROM) by using a few number of geometric control points. Then, Euler-Bernoulli (EB) modeling technique has been applied to these curves to estimate the actuation control inputs, allowing the mushrooms to be grasped under optimal safety conditions. The real-time grasping control issues based on the sliding Mode, have been discussed using a combined action of the attractive and repulsive Artificial Potential Field (APF), used to drive the soft gripper to the mushroom target. This control has been applied to the virtual control points of their representative PH curves, and yielded an accurate positioning of the soft gripper during the grasping process. The safety and the quality of the mushroom during the harvesting has been guaranteed by the presence of the contact force sensors, as well as the hyper-elastic material constituting each soft finger. The above strategy keeps the harvested mushroom safe during the grasping and therefore, enables a real-time shape control for a form enclosure soft grasping. The results of the proposed technique have been experimentally assessed using a 3-fingers soft gripper made up of Fluidic Elastomeric Actuators (FEAs) in an agriculture fresh mushrooms farm.","PeriodicalId":250981,"journal":{"name":"2023 IEEE International Conference on Soft Robotics (RoboSoft)","volume":"6 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":"125601929","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/RoboSoft55895.2023.10121974
Yuto Horioka, M. Shimizu, T. Umedachi
This study presents a crawl robot driven by a single actuator using a bistable lattice structure. The propagation of deformation waves through a bistable lattice realizes the crawling motion of the robot. Bistable structures with energy differences between the two stable states and reset mechanism enable easy and intermittent wave propagation. By softening its body, the robot can change its direction along a curved rail during locomotion. The experimental results of the prototype show that the robot can produce locomotion on straight, curved, and slope-ascending rails.
{"title":"A Crawling Robot That Utilizes Propagation of Deformation Waves of a Bistable Lattice Actuated by a Single Motor","authors":"Yuto Horioka, M. Shimizu, T. Umedachi","doi":"10.1109/RoboSoft55895.2023.10121974","DOIUrl":"https://doi.org/10.1109/RoboSoft55895.2023.10121974","url":null,"abstract":"This study presents a crawl robot driven by a single actuator using a bistable lattice structure. The propagation of deformation waves through a bistable lattice realizes the crawling motion of the robot. Bistable structures with energy differences between the two stable states and reset mechanism enable easy and intermittent wave propagation. By softening its body, the robot can change its direction along a curved rail during locomotion. The experimental results of the prototype show that the robot can produce locomotion on straight, curved, and slope-ascending rails.","PeriodicalId":250981,"journal":{"name":"2023 IEEE International Conference on Soft Robotics (RoboSoft)","volume":"12 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":"126102728","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/RoboSoft55895.2023.10122068
Joseph DelPreto, C. Brunelle, A. Taghian, Daniela Rus
Smart soft wearable devices have great potential to change how technology is integrated into daily life. A particularly impactful and growing application is continuous medical monitoring; being able to stream physiological and behavioral information creates personalized datasets that can lead to more tailored treatments, diagnoses, and research. An area that can greatly benefit from these developments is lymphedema management, which aims to prevent a potentially irreversible swelling of limbs due to causes such as breast cancer surgeries. Compression sleeves are the state of the art for treatment, but many open questions remain regarding effective pressure and usage prescriptions. To help address these, this work presents a soft pressure sensor, a way to integrate it into wearable devices, and sensorized compression sleeves that continuously monitor pressure and usage. There are significant challenges to developing sensors for high-pressure applications on the human body, including operating between soft compliant interfaces, being safe and unobtrusive, and reducing calibration for new users. This work compares two sensing approaches for wearable applications: a custom pouch-based pneumatic sensor, and a commercially available resistive sensor. Experiments systematically explore design considerations including sensitivity to ambient temperature and pressure, characterize sensor response curves, and evaluate expected accuracies and required calibrations. Sensors are then integrated into compression sleeves and worn for over 115 hours spanning 10 days.
{"title":"Sensorizing a Compression Sleeve for Continuous Pressure Monitoring and Lymphedema Treatment Using Pneumatic or Resistive Sensors","authors":"Joseph DelPreto, C. Brunelle, A. Taghian, Daniela Rus","doi":"10.1109/RoboSoft55895.2023.10122068","DOIUrl":"https://doi.org/10.1109/RoboSoft55895.2023.10122068","url":null,"abstract":"Smart soft wearable devices have great potential to change how technology is integrated into daily life. A particularly impactful and growing application is continuous medical monitoring; being able to stream physiological and behavioral information creates personalized datasets that can lead to more tailored treatments, diagnoses, and research. An area that can greatly benefit from these developments is lymphedema management, which aims to prevent a potentially irreversible swelling of limbs due to causes such as breast cancer surgeries. Compression sleeves are the state of the art for treatment, but many open questions remain regarding effective pressure and usage prescriptions. To help address these, this work presents a soft pressure sensor, a way to integrate it into wearable devices, and sensorized compression sleeves that continuously monitor pressure and usage. There are significant challenges to developing sensors for high-pressure applications on the human body, including operating between soft compliant interfaces, being safe and unobtrusive, and reducing calibration for new users. This work compares two sensing approaches for wearable applications: a custom pouch-based pneumatic sensor, and a commercially available resistive sensor. Experiments systematically explore design considerations including sensitivity to ambient temperature and pressure, characterize sensor response curves, and evaluate expected accuracies and required calibrations. Sensors are then integrated into compression sleeves and worn for over 115 hours spanning 10 days.","PeriodicalId":250981,"journal":{"name":"2023 IEEE International Conference on Soft Robotics (RoboSoft)","volume":"43 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":"114136959","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/RoboSoft55895.2023.10122063
Tatsuya Kako, Zheng Wang, Yoshiki Mori, Hongying Zhang, Zhongkui Wang
Pneumatic soft actuators are widely used in various applications. Recent years, pneumatic origami actuators were studied intensively because of the advantages of high energy efficiency, large deformation, and rich deformation patterns. However, the fabrication of pneumatic driven origami-based soft robot is a challenging task, in which air leakage can result in disfunction of the robots. In this paper, we propose an alterative approach to fabricate pneumatic origami structure using an industrial 3D printer which is capable of 3D printing liquid silicone rubber (LSR). We took the Kresling pattern as an example and explored the essential parameters of printer setting. We directly printed the 3D folded structure (origami-inspired structure) instead of 2D folding to simplify the fabrication process. In addition, to maximize the design freedom, we propose modularized design of the origami-inspired actuator. After fabricating the basic modules, robots can be freely assembled according to different applications. Finite element simulations and experiments were conducted to characterize the basic modules in terms of deformation, rotation angle, and generated force. Finally, a robotic gripper were developed using the basic modules and grasping experiments were conducted to prove the concept of modularization.
{"title":"3D Printable Origami-Inspired Pneumatic Soft Actuator with Modularized Design","authors":"Tatsuya Kako, Zheng Wang, Yoshiki Mori, Hongying Zhang, Zhongkui Wang","doi":"10.1109/RoboSoft55895.2023.10122063","DOIUrl":"https://doi.org/10.1109/RoboSoft55895.2023.10122063","url":null,"abstract":"Pneumatic soft actuators are widely used in various applications. Recent years, pneumatic origami actuators were studied intensively because of the advantages of high energy efficiency, large deformation, and rich deformation patterns. However, the fabrication of pneumatic driven origami-based soft robot is a challenging task, in which air leakage can result in disfunction of the robots. In this paper, we propose an alterative approach to fabricate pneumatic origami structure using an industrial 3D printer which is capable of 3D printing liquid silicone rubber (LSR). We took the Kresling pattern as an example and explored the essential parameters of printer setting. We directly printed the 3D folded structure (origami-inspired structure) instead of 2D folding to simplify the fabrication process. In addition, to maximize the design freedom, we propose modularized design of the origami-inspired actuator. After fabricating the basic modules, robots can be freely assembled according to different applications. Finite element simulations and experiments were conducted to characterize the basic modules in terms of deformation, rotation angle, and generated force. Finally, a robotic gripper were developed using the basic modules and grasping experiments were conducted to prove the concept of modularization.","PeriodicalId":250981,"journal":{"name":"2023 IEEE International Conference on Soft Robotics (RoboSoft)","volume":"167 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":"120954248","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/RoboSoft55895.2023.10122070
R. Blümel, D. S. G. Morales, A. Raatz
Special care must be taken when assembling and disassembling complex capital goods since incorrect handling, damage of the goods or delays can represent economic losses. However, challenges related to the automation of the complex handling task and the time of the process led to the research of solutions to increase the speed and decrease its cost. This article introduces the handling process for disassembling turbine blades, its challenges, and precisely a solution based on soft material grippers for adaptive grasping. We present a gripping method to component-friendly hold and handle aircraft engine turbine blades using soft materials. Within this work, we address the design of the soft material gripper, prove its functionality through experiments and assess the behavior of the gripper during the process of the blade's handling and disassembly.
{"title":"Development of a Gripper for component-friendly Handling of Complex Capital Goods","authors":"R. Blümel, D. S. G. Morales, A. Raatz","doi":"10.1109/RoboSoft55895.2023.10122070","DOIUrl":"https://doi.org/10.1109/RoboSoft55895.2023.10122070","url":null,"abstract":"Special care must be taken when assembling and disassembling complex capital goods since incorrect handling, damage of the goods or delays can represent economic losses. However, challenges related to the automation of the complex handling task and the time of the process led to the research of solutions to increase the speed and decrease its cost. This article introduces the handling process for disassembling turbine blades, its challenges, and precisely a solution based on soft material grippers for adaptive grasping. We present a gripping method to component-friendly hold and handle aircraft engine turbine blades using soft materials. Within this work, we address the design of the soft material gripper, prove its functionality through experiments and assess the behavior of the gripper during the process of the blade's handling and disassembly.","PeriodicalId":250981,"journal":{"name":"2023 IEEE International Conference on Soft Robotics (RoboSoft)","volume":"6 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":"121826041","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/RoboSoft55895.2023.10121928
A. Mathew, Ikhlas Mohamed Ben Hmida, Suad Alhaj Mustafa, Ahmed Nader Ahmed, R. Al-Rub, B. El-Khasawneh, F. Renda
Construction 3D printing technology has recently received significant attention as a method for creating construction components or printing entire buildings. The deployment of Cable Driven Parallel Robots (CDPRs) in large-scale 3D printing is being explored as a potential candidate due to their low cost, high speed, and design modularity. However, the cable's inertial and elastic properties may lead to sagging and vibration, making the system difficult to model. In this paper, we use the Geometric Variable Strain (GVS) model, a geometrically exact approach based on the Cosserat rod theory, to model the dynamics of a CDPR. The Cosserat rod theory accounts for deformation modes that are not considered in other models, while the geometric formulation ensures accurate and fast computation. We compare the dynamic simulation of a small-scale CDPR prototype at different speeds and with an experimental setup. We also study the dynamics of a large-scale system subject to step loading. We show that analyses of CDPR systems using the GVS approach can reveal new perspectives on their control, design, and development.
{"title":"Dynamics of Suspended Cable Driven Parallel Robots Using the Geometric Variable Strain Approach","authors":"A. Mathew, Ikhlas Mohamed Ben Hmida, Suad Alhaj Mustafa, Ahmed Nader Ahmed, R. Al-Rub, B. El-Khasawneh, F. Renda","doi":"10.1109/RoboSoft55895.2023.10121928","DOIUrl":"https://doi.org/10.1109/RoboSoft55895.2023.10121928","url":null,"abstract":"Construction 3D printing technology has recently received significant attention as a method for creating construction components or printing entire buildings. The deployment of Cable Driven Parallel Robots (CDPRs) in large-scale 3D printing is being explored as a potential candidate due to their low cost, high speed, and design modularity. However, the cable's inertial and elastic properties may lead to sagging and vibration, making the system difficult to model. In this paper, we use the Geometric Variable Strain (GVS) model, a geometrically exact approach based on the Cosserat rod theory, to model the dynamics of a CDPR. The Cosserat rod theory accounts for deformation modes that are not considered in other models, while the geometric formulation ensures accurate and fast computation. We compare the dynamic simulation of a small-scale CDPR prototype at different speeds and with an experimental setup. We also study the dynamics of a large-scale system subject to step loading. We show that analyses of CDPR systems using the GVS approach can reveal new perspectives on their control, design, and development.","PeriodicalId":250981,"journal":{"name":"2023 IEEE International Conference on Soft Robotics (RoboSoft)","volume":"15 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":"124937209","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/RoboSoft55895.2023.10121994
Ahmad AlAttar, Ikhlas Mohamed Ben Hmida, F. Renda, Petar Kormushev
Soft robots have many advantages over their rigid counterparts. These include their inherent compliance, lightweight and high adaptability to cluttered workspaces. Soft continuum robots, biologically inspired snake-like robots, are hyper-redundant and highly deformable. These robots can be challenging to control due to their complex kinematic and dynamic models. This paper presents a novel kinematic-model-free controller that uses a quasi-static assumption in order to control the tip-position of soft continuum robots with threadlike actuation while compensating for gravity simultaneously. The controller was tested on simulated continuum soft robots to demonstrate its ability to guide the tip while following a given trajectory. Novel kinematic-model-free control methods are introduced for soft robots' route and length control. The robustness of the controller is demonstrated with an actuator-failure test. The kinematic-model-free controller provides an adaptive control method for static, re-configuring, and growing soft continuum robots with threadlike actuation.
{"title":"Kinematic-Model-Free Tip Position Control of Reconfigurable and Growing Soft Continuum Robots","authors":"Ahmad AlAttar, Ikhlas Mohamed Ben Hmida, F. Renda, Petar Kormushev","doi":"10.1109/RoboSoft55895.2023.10121994","DOIUrl":"https://doi.org/10.1109/RoboSoft55895.2023.10121994","url":null,"abstract":"Soft robots have many advantages over their rigid counterparts. These include their inherent compliance, lightweight and high adaptability to cluttered workspaces. Soft continuum robots, biologically inspired snake-like robots, are hyper-redundant and highly deformable. These robots can be challenging to control due to their complex kinematic and dynamic models. This paper presents a novel kinematic-model-free controller that uses a quasi-static assumption in order to control the tip-position of soft continuum robots with threadlike actuation while compensating for gravity simultaneously. The controller was tested on simulated continuum soft robots to demonstrate its ability to guide the tip while following a given trajectory. Novel kinematic-model-free control methods are introduced for soft robots' route and length control. The robustness of the controller is demonstrated with an actuator-failure test. The kinematic-model-free controller provides an adaptive control method for static, re-configuring, and growing soft continuum robots with threadlike actuation.","PeriodicalId":250981,"journal":{"name":"2023 IEEE International Conference on Soft Robotics (RoboSoft)","volume":"136 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":"122400450","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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