Flexible ultrasound (US) transducer, which has a potential to fit various regions of human body for diagnosis, need to have its geometry accurately measured for US image reconstruction. This paper serves a shape sensing system with the electrostatic differential capacitance for the imaging with the flexible US transducer. The shape sensing system is composed of two strips as a pair, each end of which is fixed, and focuses on the relative shift between capacitance sensors embedded in the inner and outer strips when bending the sensing system. For increasing the capacitance, we applied a silicon oil to the sensor substrate and changed the size of electrodes. Experimental results showed that the estimation error was improved by the average of 52.8% when applying the silicon oil and the average of 10.4% by increasing the size of electrodes. Additionally, US simulation was performed for investigating the influence of image reconstruction due to the sensing error. The simulation results enabled to visualize all point targets and demonstrated the feasibility that the developed sensing system are applicable for the flexible US transducer.
{"title":"Shape Sensing with Electrostatic Differential Capacitance for Ultrasound Imaging by Flexible Array Transducer","authors":"Chisato Hojo, Hiroki Kawagishi, Hiroki Shigemune, Ryosuke Tsumura","doi":"10.1109/RoboSoft55895.2023.10121984","DOIUrl":"https://doi.org/10.1109/RoboSoft55895.2023.10121984","url":null,"abstract":"Flexible ultrasound (US) transducer, which has a potential to fit various regions of human body for diagnosis, need to have its geometry accurately measured for US image reconstruction. This paper serves a shape sensing system with the electrostatic differential capacitance for the imaging with the flexible US transducer. The shape sensing system is composed of two strips as a pair, each end of which is fixed, and focuses on the relative shift between capacitance sensors embedded in the inner and outer strips when bending the sensing system. For increasing the capacitance, we applied a silicon oil to the sensor substrate and changed the size of electrodes. Experimental results showed that the estimation error was improved by the average of 52.8% when applying the silicon oil and the average of 10.4% by increasing the size of electrodes. Additionally, US simulation was performed for investigating the influence of image reconstruction due to the sensing error. The simulation results enabled to visualize all point targets and demonstrated the feasibility that the developed sensing system are applicable for the flexible US transducer.","PeriodicalId":250981,"journal":{"name":"2023 IEEE International Conference on Soft Robotics (RoboSoft)","volume":"16 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":"125062829","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/RoboSoft55895.2023.10122108
Federico Bernabei, Matteo Lo Preti, Seonggun Joe, L. Beccai
In soft grippers, deformable materials are crucial for safety and adaptability. However, materials alone are not enough to ensure a successful grip. Soft grippers are generally designed to exploit precision or power grasp but still show limited versatility in handling objects whose characteristics are widely different. This paper presents a soft gripper with a monolithic pneumatic artificial muscle (M-PAM) design. The monolithic approach prevents failure from delamination while it improves lifetime. Concurrently, adjustable finger distance and a foam interface improve stability during grasping. The resulting structure exerts a maximum force of 1.95 N and reaches a bending angle of 78.27° corresponding to a positive pressure of 18 kPa. Furthermore, an optimized geometry increases the contact area and grasping strength. A soft gripper integrating two M-PAMs is demonstrated grasping fruit with dimensions ranging from 0.5 to 65 mm.
{"title":"Development of a Monolithic Pneumatic Soft Actuator for Fruit Grasping*","authors":"Federico Bernabei, Matteo Lo Preti, Seonggun Joe, L. Beccai","doi":"10.1109/RoboSoft55895.2023.10122108","DOIUrl":"https://doi.org/10.1109/RoboSoft55895.2023.10122108","url":null,"abstract":"In soft grippers, deformable materials are crucial for safety and adaptability. However, materials alone are not enough to ensure a successful grip. Soft grippers are generally designed to exploit precision or power grasp but still show limited versatility in handling objects whose characteristics are widely different. This paper presents a soft gripper with a monolithic pneumatic artificial muscle (M-PAM) design. The monolithic approach prevents failure from delamination while it improves lifetime. Concurrently, adjustable finger distance and a foam interface improve stability during grasping. The resulting structure exerts a maximum force of 1.95 N and reaches a bending angle of 78.27° corresponding to a positive pressure of 18 kPa. Furthermore, an optimized geometry increases the contact area and grasping strength. A soft gripper integrating two M-PAMs is demonstrated grasping fruit with dimensions ranging from 0.5 to 65 mm.","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":"131764799","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/RoboSoft55895.2023.10122062
Riddhi Das, Saravana Prashanth Murali Babu, A. Mondini, B. Mazzolai
Lateral undulation is essential for limbless animals to interact with their environment and facilitate their travelling wave motion. The earthworm uses bending of its body and tip to reduce environmental compaction, anchor itself, and create space for burrowing. In this study, we designed and developed a burrowing soft robot for peristaltic locomotion by observing the lateral undulation behavior at the earthworm's anterior region. To achieve this, we utilized two different soft actuator modules. The tip modules performed lateral undulation and elongation, while the rest of the actuator modules facilitated axial elongation and passive contraction. We characterized the actuator's performance in terms of lateral bending angle, elongation displacement, and penetration force when the tip module interacted with granular media for three different cases: static, tip undulation, and tip elongation. Based on the findings of this characterization, we conducted locomotion experiments with three different gait patterns: tip undulation, tip undulation with elongation, and tip elongation, to evaluate the penetration force and behavior of the peristaltic soft robot when moving in granular media. The results show that tip undulation enhances the locomotory performance of the peristaltic soft robot.
{"title":"Effects of lateral undulation in granular medium burrowing with a peristaltic soft robot","authors":"Riddhi Das, Saravana Prashanth Murali Babu, A. Mondini, B. Mazzolai","doi":"10.1109/RoboSoft55895.2023.10122062","DOIUrl":"https://doi.org/10.1109/RoboSoft55895.2023.10122062","url":null,"abstract":"Lateral undulation is essential for limbless animals to interact with their environment and facilitate their travelling wave motion. The earthworm uses bending of its body and tip to reduce environmental compaction, anchor itself, and create space for burrowing. In this study, we designed and developed a burrowing soft robot for peristaltic locomotion by observing the lateral undulation behavior at the earthworm's anterior region. To achieve this, we utilized two different soft actuator modules. The tip modules performed lateral undulation and elongation, while the rest of the actuator modules facilitated axial elongation and passive contraction. We characterized the actuator's performance in terms of lateral bending angle, elongation displacement, and penetration force when the tip module interacted with granular media for three different cases: static, tip undulation, and tip elongation. Based on the findings of this characterization, we conducted locomotion experiments with three different gait patterns: tip undulation, tip undulation with elongation, and tip elongation, to evaluate the penetration force and behavior of the peristaltic soft robot when moving in granular media. The results show that tip undulation enhances the locomotory performance of the peristaltic soft robot.","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":"120848916","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/RoboSoft55895.2023.10122082
Kristan Hilby, P. Morice, M. Aling, Ian Hunter
This work presents an evaluation of reversible water electrolysis as a method for pneumatic actuation via the electrochemical decomposition of water into hydrogen and oxygen gas. In addition to a theoretical evaluation of the performance of electrochemically-driven pressurized hydrogen generation, pneumatic generation methods were experimentally tested across two axes: performance and compatibility. Through these experiments, the achievable pressure was shown to be at least 0.75 MPa gauge with a flow rate of 0.06 [L/min]. It was also determined that negligible losses were incurred due to switching from air to hydrogen. Despite low experimental round-trip efficiencies of 0.005%, the reversible electrolysis of water reaction was shown to be a feasible method for pneumatic actuation of soft robots, especially under scenarios where actuator bandwidth is not of concern.
{"title":"Evaluation and Comparison of Reversible Water Electrolysis as a Means for Pneumatic Actuation","authors":"Kristan Hilby, P. Morice, M. Aling, Ian Hunter","doi":"10.1109/RoboSoft55895.2023.10122082","DOIUrl":"https://doi.org/10.1109/RoboSoft55895.2023.10122082","url":null,"abstract":"This work presents an evaluation of reversible water electrolysis as a method for pneumatic actuation via the electrochemical decomposition of water into hydrogen and oxygen gas. In addition to a theoretical evaluation of the performance of electrochemically-driven pressurized hydrogen generation, pneumatic generation methods were experimentally tested across two axes: performance and compatibility. Through these experiments, the achievable pressure was shown to be at least 0.75 MPa gauge with a flow rate of 0.06 [L/min]. It was also determined that negligible losses were incurred due to switching from air to hydrogen. Despite low experimental round-trip efficiencies of 0.005%, the reversible electrolysis of water reaction was shown to be a feasible method for pneumatic actuation of soft robots, especially under scenarios where actuator bandwidth is not of concern.","PeriodicalId":250981,"journal":{"name":"2023 IEEE International Conference on Soft Robotics (RoboSoft)","volume":"15 8","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2023-04-03","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"120860565","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/RoboSoft55895.2023.10121973
Saba Firouznia, Ciqun Xu, Hemma Philamore, J. Rossiter
As the interest in oceanic and marine technologies increases, there is a growing need to perform construction, maintenance and surveying in ever more complicated situations. Currently, most underwater robots have limitations including manoeuvring in tight spaces, entanglement with foreign objects, ecosystem disruption, and high acoustic noise. A novel pulsatile jet actuator using magnetohydrodynamics (MHD) is proposed to overcome these problems. In this system, there are no moving parts; hence mechanical noise, entanglement and potential ecosystem disruption are reduced significantly. The jet engine operates in, and exploits, the electrical and fluidic properties of seawater. The MHD pulse jet engine was experimentally characterized and maximal thrust generation was achieved by enforcing the optimal formation number. The thrust vortex rings generated were studied using particle image velocimetry in both pulsed flow and continuous flow. We successfully developed an untethered robot using a pulsatile MHD jet and demonstrated its effective movement in salt water. The MHD pulse jet is ideally suited to the next generation of autonomous soft robots for environmental monitoring and protection.
{"title":"Robo-Squid: Experimental investigation of pulsed jet propulsion based on magnetohydrodynamics","authors":"Saba Firouznia, Ciqun Xu, Hemma Philamore, J. Rossiter","doi":"10.1109/RoboSoft55895.2023.10121973","DOIUrl":"https://doi.org/10.1109/RoboSoft55895.2023.10121973","url":null,"abstract":"As the interest in oceanic and marine technologies increases, there is a growing need to perform construction, maintenance and surveying in ever more complicated situations. Currently, most underwater robots have limitations including manoeuvring in tight spaces, entanglement with foreign objects, ecosystem disruption, and high acoustic noise. A novel pulsatile jet actuator using magnetohydrodynamics (MHD) is proposed to overcome these problems. In this system, there are no moving parts; hence mechanical noise, entanglement and potential ecosystem disruption are reduced significantly. The jet engine operates in, and exploits, the electrical and fluidic properties of seawater. The MHD pulse jet engine was experimentally characterized and maximal thrust generation was achieved by enforcing the optimal formation number. The thrust vortex rings generated were studied using particle image velocimetry in both pulsed flow and continuous flow. We successfully developed an untethered robot using a pulsatile MHD jet and demonstrated its effective movement in salt water. The MHD pulse jet is ideally suited to the next generation of autonomous soft robots for environmental monitoring and protection.","PeriodicalId":250981,"journal":{"name":"2023 IEEE International Conference on Soft Robotics (RoboSoft)","volume":"130 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":"132874035","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/RoboSoft55895.2023.10122000
Valerio Bo, Enrico Turco, Maria Pozzi, M. Malvezzi, D. Prattichizzo
A widespread methodology to enhance the design of robotic devices is represented by topology optimization. Typically, the optimization aims at designing a certain part of the robot to satisfy a priori, user-defined mechanical properties while minimizing the used material for building the structure. In this paper, we apply topology optimization to robotic grippers, and we propose to define the requirements for the optimization in a data-driven way based on simulated experiments of grasping tasks. Specifically, the architecture we propose is composed of three sequential phases. The input of the architecture includes the initial model of the gripper, the specific gripper component to be optimized, and a set of parameters. The first part of the architecture acquires force signals from the gripper component that are sensed during the grasping simulations. Hence, these signals are fed into the second phase, which analyzes the forces through pixel connectivity and Dynamic Time Warping algorithms and provides the instructions for the topology optimization. Ultimately, the third block performs the optimization. The method is tested by optimizing a specific part of a soft-rigid gripper. Results from simulation confirm that the proposed architecture provides an improved version of the original gripper, not only in terms of optimized use of materials but also in terms of grasp success rate.
{"title":"A Data-Driven Topology Optimization Framework for Designing Robotic Grippers","authors":"Valerio Bo, Enrico Turco, Maria Pozzi, M. Malvezzi, D. Prattichizzo","doi":"10.1109/RoboSoft55895.2023.10122000","DOIUrl":"https://doi.org/10.1109/RoboSoft55895.2023.10122000","url":null,"abstract":"A widespread methodology to enhance the design of robotic devices is represented by topology optimization. Typically, the optimization aims at designing a certain part of the robot to satisfy a priori, user-defined mechanical properties while minimizing the used material for building the structure. In this paper, we apply topology optimization to robotic grippers, and we propose to define the requirements for the optimization in a data-driven way based on simulated experiments of grasping tasks. Specifically, the architecture we propose is composed of three sequential phases. The input of the architecture includes the initial model of the gripper, the specific gripper component to be optimized, and a set of parameters. The first part of the architecture acquires force signals from the gripper component that are sensed during the grasping simulations. Hence, these signals are fed into the second phase, which analyzes the forces through pixel connectivity and Dynamic Time Warping algorithms and provides the instructions for the topology optimization. Ultimately, the third block performs the optimization. The method is tested by optimizing a specific part of a soft-rigid gripper. Results from simulation confirm that the proposed architecture provides an improved version of the original gripper, not only in terms of optimized use of materials but also in terms of grasp success rate.","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":"134111633","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/RoboSoft55895.2023.10122123
Kosuke Isobe, Masakazu Hirokawa, Kenji Suzuki
This study proposes a soft wearable robot that supports scapular adduction and abduction to rehabilitate respiratory diseases. For the elderly, the decrease in the range of thorax movement due to aging increases the risk of respiratory diseases. Although adduction and abduction exercise of the scapula effectively improves the movement range of the respiratory muscles around the thorax, it is difficult for the elderly owing to reduced voluntary upper-arm mobility, and hence a physiotherapist's support is required. The proposed robot has a simple mechanism with a small degree of freedom that supports the elderly in stretching their thorax on their own at home. We first describe the design concept of the proposed soft robot with a shoulder brace with elastic components to constrain shoulder movement. Then, we conduct a pilot study to determine appropriate design parameters based on a therapist's kinematic analysis of the glenohumeral joint during the stretching. The evaluation experiment with eight healthy participants to validate the supporting function of the system is described. Hence, we confirm that the proposed system can provide scapular adduction and abduction movement similar to what physiotherapists provide.
{"title":"A Soft Wearable Robot to Support Scapular Adduction and Abduction for Respiratory Rehabilitation","authors":"Kosuke Isobe, Masakazu Hirokawa, Kenji Suzuki","doi":"10.1109/RoboSoft55895.2023.10122123","DOIUrl":"https://doi.org/10.1109/RoboSoft55895.2023.10122123","url":null,"abstract":"This study proposes a soft wearable robot that supports scapular adduction and abduction to rehabilitate respiratory diseases. For the elderly, the decrease in the range of thorax movement due to aging increases the risk of respiratory diseases. Although adduction and abduction exercise of the scapula effectively improves the movement range of the respiratory muscles around the thorax, it is difficult for the elderly owing to reduced voluntary upper-arm mobility, and hence a physiotherapist's support is required. The proposed robot has a simple mechanism with a small degree of freedom that supports the elderly in stretching their thorax on their own at home. We first describe the design concept of the proposed soft robot with a shoulder brace with elastic components to constrain shoulder movement. Then, we conduct a pilot study to determine appropriate design parameters based on a therapist's kinematic analysis of the glenohumeral joint during the stretching. The evaluation experiment with eight healthy participants to validate the supporting function of the system is described. Hence, we confirm that the proposed system can provide scapular adduction and abduction movement similar to what physiotherapists provide.","PeriodicalId":250981,"journal":{"name":"2023 IEEE International Conference on Soft Robotics (RoboSoft)","volume":"5 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":"114401129","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/RoboSoft55895.2023.10121938
Kagetora Takahashi, K. Tadakuma, M. Watanabe, Kazuki Abe, S. Tadokoro
In recent years, the need for a variable stiffness mechanism to control the stiffness of a robot structure has been observed in soft robotics. There are various stiffness methods, and various linear mechanisms have been proposed to achieve extension, contraction, bending, and joint rotation of each method. However, to the best of our knowledge, no linear mechanism with variable stiffness in the two axes of extension, contraction, and joint rotation. This is because, in the conventional variable stiffness method, the air tube of the pneumatic actuator encased in the structure cannot maintain the desired shape under pressure due to wrinkling and buckling that occur when the air tube is deformed in response to the extension, contraction, and joint rotation of the structure. Therefore, it was necessary to develop a new method of encasing the air tube. The mechanism proposed in this study is to bend the flat tube that serves as the flow path into an S-shape to achieve extension, contraction and joint rotation, and to apply internal pressure to make the stiffness variable. Using a prototype based on this original principle, we confirmed the performance of switching stiffness in conjunction with extension, contraction and joint rotation. Experiments measuring the holding force during extension, contraction and the holding torque during joint rotation revealed that the holding force and holding torque were highly dependent on the pressure-receiving area between the mechanism and the S-shaped folded flat tube. In the future, we aim to apply this mechanism to a posture holding assist.
{"title":"Variable Length-Angle and Stiffness Joint Mechanism that Enables Extension, Contraction and Rotation Elements by S-shape Folded Flat Tube","authors":"Kagetora Takahashi, K. Tadakuma, M. Watanabe, Kazuki Abe, S. Tadokoro","doi":"10.1109/RoboSoft55895.2023.10121938","DOIUrl":"https://doi.org/10.1109/RoboSoft55895.2023.10121938","url":null,"abstract":"In recent years, the need for a variable stiffness mechanism to control the stiffness of a robot structure has been observed in soft robotics. There are various stiffness methods, and various linear mechanisms have been proposed to achieve extension, contraction, bending, and joint rotation of each method. However, to the best of our knowledge, no linear mechanism with variable stiffness in the two axes of extension, contraction, and joint rotation. This is because, in the conventional variable stiffness method, the air tube of the pneumatic actuator encased in the structure cannot maintain the desired shape under pressure due to wrinkling and buckling that occur when the air tube is deformed in response to the extension, contraction, and joint rotation of the structure. Therefore, it was necessary to develop a new method of encasing the air tube. The mechanism proposed in this study is to bend the flat tube that serves as the flow path into an S-shape to achieve extension, contraction and joint rotation, and to apply internal pressure to make the stiffness variable. Using a prototype based on this original principle, we confirmed the performance of switching stiffness in conjunction with extension, contraction and joint rotation. Experiments measuring the holding force during extension, contraction and the holding torque during joint rotation revealed that the holding force and holding torque were highly dependent on the pressure-receiving area between the mechanism and the S-shaped folded flat tube. In the future, we aim to apply this mechanism to a posture holding assist.","PeriodicalId":250981,"journal":{"name":"2023 IEEE International Conference on Soft Robotics (RoboSoft)","volume":"359 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":"134228201","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/RoboSoft55895.2023.10122073
Flavie Przybylski, Yinoussa Adagolodjo, Anna Mîra, Giulio Cerruti, Jérémie Dequidt, C. Duriez, Pierre Berthet-Rayne
Growing robots and their eversion principle have wide applications ranging from surgery to industrial inspection and archaeology. The eversion process involves deploying an inflatable device with a material located at the tip of the robot, which, when under pressure, elongates the robot's body. However, the simulation of this complex kinematic phenomenon is a significant challenge. Our approach proposes to use a combination of kinematics and quasi-static modeling to parameterize the starting conditions of the eversion process. This facilitates the understanding of the behavior of this complex kinematic phenomenon and help identify factors that have a significant impact on the eversion process and its response to external factors. The kinematic model uses the Cosserat rod models for local coordinates, while the quasi-static model is based on finite element analysis. The two models are combined to capture the behavior of the robot tip during eversion. This approach has been implemented and tested using the SOFA framework and has been evaluated on the deployment of a vine robot on a narrow passage. The results of our approach are encouraging to better understand the behaviour of soft growing robot during eversion.
{"title":"3D Kinematics and Quasi-Statics of a Growing Robot Eversion","authors":"Flavie Przybylski, Yinoussa Adagolodjo, Anna Mîra, Giulio Cerruti, Jérémie Dequidt, C. Duriez, Pierre Berthet-Rayne","doi":"10.1109/RoboSoft55895.2023.10122073","DOIUrl":"https://doi.org/10.1109/RoboSoft55895.2023.10122073","url":null,"abstract":"Growing robots and their eversion principle have wide applications ranging from surgery to industrial inspection and archaeology. The eversion process involves deploying an inflatable device with a material located at the tip of the robot, which, when under pressure, elongates the robot's body. However, the simulation of this complex kinematic phenomenon is a significant challenge. Our approach proposes to use a combination of kinematics and quasi-static modeling to parameterize the starting conditions of the eversion process. This facilitates the understanding of the behavior of this complex kinematic phenomenon and help identify factors that have a significant impact on the eversion process and its response to external factors. The kinematic model uses the Cosserat rod models for local coordinates, while the quasi-static model is based on finite element analysis. The two models are combined to capture the behavior of the robot tip during eversion. This approach has been implemented and tested using the SOFA framework and has been evaluated on the deployment of a vine robot on a narrow passage. The results of our approach are encouraging to better understand the behaviour of soft growing robot during eversion.","PeriodicalId":250981,"journal":{"name":"2023 IEEE International Conference on Soft Robotics (RoboSoft)","volume":"17 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":"116567135","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/RoboSoft55895.2023.10121944
Ludwig Dellinger, John Nassour, Gordon Cheng
Soft actuators exhibiting versatile behaviors have potential applications in robotics. This paper proposes kinematics, kinetics, and dynamic models of an online-programmable soft actuator. The actuator is composed of four strings and an inflatable textile tube folded inside a housing structure. Each string is controlled by a single DC motor which has an optical encoder. Pulling a string produces bending in one direction, while pulling the four strings in a coordinated manner produces additional motions. With the proposed forward and inverse kinematic model, the actuator was able to follow a desired end-effector trajectory in the Cartesian space. Furthermore, due to the dynamic model, our simulation study shows that the soft actuator can handle external force changes at the end-effector, such as mass changes and friction forces.
{"title":"Dynamic model of an online programmable textile soft actuator","authors":"Ludwig Dellinger, John Nassour, Gordon Cheng","doi":"10.1109/RoboSoft55895.2023.10121944","DOIUrl":"https://doi.org/10.1109/RoboSoft55895.2023.10121944","url":null,"abstract":"Soft actuators exhibiting versatile behaviors have potential applications in robotics. This paper proposes kinematics, kinetics, and dynamic models of an online-programmable soft actuator. The actuator is composed of four strings and an inflatable textile tube folded inside a housing structure. Each string is controlled by a single DC motor which has an optical encoder. Pulling a string produces bending in one direction, while pulling the four strings in a coordinated manner produces additional motions. With the proposed forward and inverse kinematic model, the actuator was able to follow a desired end-effector trajectory in the Cartesian space. Furthermore, due to the dynamic model, our simulation study shows that the soft actuator can handle external force changes at the end-effector, such as mass changes and friction forces.","PeriodicalId":250981,"journal":{"name":"2023 IEEE International Conference on Soft Robotics (RoboSoft)","volume":"17 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":"126109133","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}
京公网安备 11010802042870号
京ICP备2023020795号-1
扫码关注我们
求助内容：
应助结果提醒方式：