Pub Date : 2018-04-24DOI: 10.1109/ROBOSOFT.2018.8404921
Roza Gliva, M. Sfakiotakis, M. Kruusmaa
Energy efficiency and motion precision are particularly important for unmanned underwater vehicles (UUVs) undertaking complex missions. To achieve these objectives, researchers consider different materials when designing UUVs. In this work, we present the development and experimental assessment of a bio-inspired flexible actuator, based on the fins used in the Autonomous Underwater Vehicle U-CAT. The novel aspect of the new fin design is that it allows manipulation of the magnitude and direction of the generated thrust vector, by increasing the flexural resistance along its front edge through a rigid insert. The potential for using the fin as a U-CAT actuator is assessed through the comparison of results from parametric studies inside a water tank, run for both the here-proposed and the original design. The results indicate that the modified fin can generate an increased overall force, with a relatively small increase in power consumption. More interestingly, the overall direction of the thrust vector is better aligned with the robot's surge axis, at the expense of reducing the sway motion capability. Overall, the new design holds considerable potential for enhancing the propulsive performance of fin-actuated underwater vehicles, while representing a simple and robust implementation of undulating flexible propulsors.
{"title":"Development and experimental assessment of a flexible robot fin","authors":"Roza Gliva, M. Sfakiotakis, M. Kruusmaa","doi":"10.1109/ROBOSOFT.2018.8404921","DOIUrl":"https://doi.org/10.1109/ROBOSOFT.2018.8404921","url":null,"abstract":"Energy efficiency and motion precision are particularly important for unmanned underwater vehicles (UUVs) undertaking complex missions. To achieve these objectives, researchers consider different materials when designing UUVs. In this work, we present the development and experimental assessment of a bio-inspired flexible actuator, based on the fins used in the Autonomous Underwater Vehicle U-CAT. The novel aspect of the new fin design is that it allows manipulation of the magnitude and direction of the generated thrust vector, by increasing the flexural resistance along its front edge through a rigid insert. The potential for using the fin as a U-CAT actuator is assessed through the comparison of results from parametric studies inside a water tank, run for both the here-proposed and the original design. The results indicate that the modified fin can generate an increased overall force, with a relatively small increase in power consumption. More interestingly, the overall direction of the thrust vector is better aligned with the robot's surge axis, at the expense of reducing the sway motion capability. Overall, the new design holds considerable potential for enhancing the propulsive performance of fin-actuated underwater vehicles, while representing a simple and robust implementation of undulating flexible propulsors.","PeriodicalId":306255,"journal":{"name":"2018 IEEE International Conference on Soft Robotics (RoboSoft)","volume":"22 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2018-04-24","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"124029803","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 : 2018-04-24DOI: 10.1109/ROBOSOFT.2018.8405378
Zheyuan Gong, Jiahui Cheng, Kainan Hu, Tianmiao Wang, Li Wen
Soft robots have several promising features for underwater manipulation, e.g., safe interaction with surroundings, lightweight, low inertia, etc. In this paper, we proposed a method for the inverse kinematics of the soft manipulator that can move in the three-dimensional space. By controlling the two bending segments to move with opposing curvatures and one elongation segment to move up and down, our method enabled the real-time solution of the inverse kinematics and allowed the tip of the manipulator executing point-point movements in three dimensions. We performed the trajectory planning ability of the soft manipulator following the straight line and circle paths. Furthermore, we investigated the hydrodynamic functions of the soft manipulator underwater including forces, and the wake flows when the soft arm stroked at different amplitudes and frequencies. We found that the hydrodynamic force (<1N) and the torques (<0.1Nm) were quite small during locomotion — which led to a negligible inertial impact on the underwater vehicle compared to the traditional rigid underwater manipulator. Finally, we demonstrated that the soft manipulator successfully picked and placed sea animals at 10m depth.
{"title":"An inverse kinematics method of a soft robotic arm with three-dimensional locomotion for underwater manipulation","authors":"Zheyuan Gong, Jiahui Cheng, Kainan Hu, Tianmiao Wang, Li Wen","doi":"10.1109/ROBOSOFT.2018.8405378","DOIUrl":"https://doi.org/10.1109/ROBOSOFT.2018.8405378","url":null,"abstract":"Soft robots have several promising features for underwater manipulation, e.g., safe interaction with surroundings, lightweight, low inertia, etc. In this paper, we proposed a method for the inverse kinematics of the soft manipulator that can move in the three-dimensional space. By controlling the two bending segments to move with opposing curvatures and one elongation segment to move up and down, our method enabled the real-time solution of the inverse kinematics and allowed the tip of the manipulator executing point-point movements in three dimensions. We performed the trajectory planning ability of the soft manipulator following the straight line and circle paths. Furthermore, we investigated the hydrodynamic functions of the soft manipulator underwater including forces, and the wake flows when the soft arm stroked at different amplitudes and frequencies. We found that the hydrodynamic force (<1N) and the torques (<0.1Nm) were quite small during locomotion — which led to a negligible inertial impact on the underwater vehicle compared to the traditional rigid underwater manipulator. Finally, we demonstrated that the soft manipulator successfully picked and placed sea animals at 10m depth.","PeriodicalId":306255,"journal":{"name":"2018 IEEE International Conference on Soft Robotics (RoboSoft)","volume":"100 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2018-04-24","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"124118638","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 : 2018-04-24DOI: 10.1109/ROBOSOFT.2018.8404941
Chao Tang, B. Li, Hualing Chen
Small robot is favorable in diverse application. Dielectric elastomer is soft active material, offering new insight in robotic actuation. This paper describes a lightweight robotic cube driven by a dielectric elastomer resonator (DER). The vibration performance of the DER is experimentally studied and characterized for a fast speed actuation in robotic cube. This robotic cube has an excellent athletic ability. Firstly, without wheel, leg or track, it can locomote rectilinearly at the first mode resonance frequency of DER, with the speed of 0.78 body length per second. Secondly, the robotic cube can change its direction (U-turn) at the second mode resonance frequency of DER. The robotic cube favors simplicity in manufacture and multi-mode locomotion integration controlled by a single actuator at its voltage change.
{"title":"U-turning an agile robotic cube by a soft dielectric elastomer resonator","authors":"Chao Tang, B. Li, Hualing Chen","doi":"10.1109/ROBOSOFT.2018.8404941","DOIUrl":"https://doi.org/10.1109/ROBOSOFT.2018.8404941","url":null,"abstract":"Small robot is favorable in diverse application. Dielectric elastomer is soft active material, offering new insight in robotic actuation. This paper describes a lightweight robotic cube driven by a dielectric elastomer resonator (DER). The vibration performance of the DER is experimentally studied and characterized for a fast speed actuation in robotic cube. This robotic cube has an excellent athletic ability. Firstly, without wheel, leg or track, it can locomote rectilinearly at the first mode resonance frequency of DER, with the speed of 0.78 body length per second. Secondly, the robotic cube can change its direction (U-turn) at the second mode resonance frequency of DER. The robotic cube favors simplicity in manufacture and multi-mode locomotion integration controlled by a single actuator at its voltage change.","PeriodicalId":306255,"journal":{"name":"2018 IEEE International Conference on Soft Robotics (RoboSoft)","volume":"1 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2018-04-24","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"130882553","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 : 2018-04-24DOI: 10.1109/ROBOSOFT.2018.8404888
Aaron Fishman, Sal Catsis, M. Homer, J. Rossiter
Cephalopods (e.g., octopus, squid and cuttlefish) employ their colour-changing skin for rapid active camouflage and signalling in complex visual environments. This is achieved through the collective embodied intelligence of chromatophores: pigment organs which stretch under electrical stimulation to affect local skin colouration, and are also responsive to physical stimulation. In this study, we present an experimental investigation of touch-responsive bioinspired artificial cephalopod skin fabricated from soft dielectric elastomer, a material that has the potential to mimic the actuation of biological chromatophore cells in both speed and optical modulation. We measure the behaviour of an interacting cyclic network of such artificial chromatophores, using local strain as the control input that drives cell actuation. By applying simple local feedback rules analogous to cellular automata, we demonstrate that physical stimulation can generate a variety of travelling wave-like patterns that mimic those seen in biological cephalopod skins.
{"title":"Touch and see: Physical interactions stimulating patterns in artificial cephalopod skin","authors":"Aaron Fishman, Sal Catsis, M. Homer, J. Rossiter","doi":"10.1109/ROBOSOFT.2018.8404888","DOIUrl":"https://doi.org/10.1109/ROBOSOFT.2018.8404888","url":null,"abstract":"Cephalopods (e.g., octopus, squid and cuttlefish) employ their colour-changing skin for rapid active camouflage and signalling in complex visual environments. This is achieved through the collective embodied intelligence of chromatophores: pigment organs which stretch under electrical stimulation to affect local skin colouration, and are also responsive to physical stimulation. In this study, we present an experimental investigation of touch-responsive bioinspired artificial cephalopod skin fabricated from soft dielectric elastomer, a material that has the potential to mimic the actuation of biological chromatophore cells in both speed and optical modulation. We measure the behaviour of an interacting cyclic network of such artificial chromatophores, using local strain as the control input that drives cell actuation. By applying simple local feedback rules analogous to cellular automata, we demonstrate that physical stimulation can generate a variety of travelling wave-like patterns that mimic those seen in biological cephalopod skins.","PeriodicalId":306255,"journal":{"name":"2018 IEEE International Conference on Soft Robotics (RoboSoft)","volume":"174 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2018-04-24","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"126783308","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 : 2018-04-24DOI: 10.1109/ROBOSOFT.2018.8404931
Hugh Boys, G. Frediani, Michele Ghilardi, S. Poslad, James J. C. Busfield, F. Carpi
This paper presents a new type of wearable finger-tip tactile displays aimed at providing electrically tuneable tactile stimuli interactions with soft bodies. This is achieved by a new actuation technology based on soft electroactive polymers, capable of generating large and quasi-static displacements at moderate forces. This is intentionally different from the high-frequency small vibrations at high forces that are used in several state-of-the-art tactile displays. We describe the ongoing development of devices having a volume of 20×12×23 mm and weigh of only 6 g on finger, which can render electrically tuneable displacements of up to 3.5 mm and forces of up to 0.8 N.
{"title":"Soft wearable non-vibratory tactile displays","authors":"Hugh Boys, G. Frediani, Michele Ghilardi, S. Poslad, James J. C. Busfield, F. Carpi","doi":"10.1109/ROBOSOFT.2018.8404931","DOIUrl":"https://doi.org/10.1109/ROBOSOFT.2018.8404931","url":null,"abstract":"This paper presents a new type of wearable finger-tip tactile displays aimed at providing electrically tuneable tactile stimuli interactions with soft bodies. This is achieved by a new actuation technology based on soft electroactive polymers, capable of generating large and quasi-static displacements at moderate forces. This is intentionally different from the high-frequency small vibrations at high forces that are used in several state-of-the-art tactile displays. We describe the ongoing development of devices having a volume of 20×12×23 mm and weigh of only 6 g on finger, which can render electrically tuneable displacements of up to 3.5 mm and forces of up to 0.8 N.","PeriodicalId":306255,"journal":{"name":"2018 IEEE International Conference on Soft Robotics (RoboSoft)","volume":"7 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2018-04-24","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"114154450","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 : 2018-04-24DOI: 10.1109/ROBOSOFT.2018.8404912
Benjamin Shih, J. Mayeda, Z. Huo, C. Christianson, M. Tolley
Sensor design for soft robots is a challenging problem because of the wide range of design parameters (e.g. geometry, material, actuation type, etc.) critical to their function. While conventional rigid sensors are effective for soft robotics in specific situations, sensors that are directly integrated into the bodies of soft robots could help improve both their exteroception and interoception capabilities. To address this challenge, we seek to design sensors that can be co-fabricated with soft robot bodies using commercial 3D printers, without additional modification. We describe an approach to the design and fabrication of compliant, resistive soft sensors, and present characterizations for linear, planar, and 3D sensors. The sensors consist of layers of nonconductive and conductive commercial photopolymers that the printer cures with UV light. We demonstrate the capabilities of our method by printing linear and multilayer soft sensors, and by embedding non-planar heart- and brain-shaped sensors within a humanoid shape, which enables the humanoid to detect contact with its environment. Please see the video for additional details.
{"title":"3D printed resistive soft sensors","authors":"Benjamin Shih, J. Mayeda, Z. Huo, C. Christianson, M. Tolley","doi":"10.1109/ROBOSOFT.2018.8404912","DOIUrl":"https://doi.org/10.1109/ROBOSOFT.2018.8404912","url":null,"abstract":"Sensor design for soft robots is a challenging problem because of the wide range of design parameters (e.g. geometry, material, actuation type, etc.) critical to their function. While conventional rigid sensors are effective for soft robotics in specific situations, sensors that are directly integrated into the bodies of soft robots could help improve both their exteroception and interoception capabilities. To address this challenge, we seek to design sensors that can be co-fabricated with soft robot bodies using commercial 3D printers, without additional modification. We describe an approach to the design and fabrication of compliant, resistive soft sensors, and present characterizations for linear, planar, and 3D sensors. The sensors consist of layers of nonconductive and conductive commercial photopolymers that the printer cures with UV light. We demonstrate the capabilities of our method by printing linear and multilayer soft sensors, and by embedding non-planar heart- and brain-shaped sensors within a humanoid shape, which enables the humanoid to detect contact with its environment. Please see the video for additional details.","PeriodicalId":306255,"journal":{"name":"2018 IEEE International Conference on Soft Robotics (RoboSoft)","volume":"19 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2018-04-24","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"124091638","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 : 2018-04-24DOI: 10.1109/ROBOSOFT.2018.8404930
B. M. Murray, Bryan N. Peele, Patricia A. Xu, J. Spjut, Omer Shapira, D. Luebke, R. Shepherd
This paper presents an entirely compliant controller handle for use in virtual and augmented reality environments. The controller handle transitions between two static states: a semi-rigid, large diameter state when pneumatically pressurized and a soft, compressible, smaller diameter state when depressurized. We integrated the controller with a modified version of NVIDIA's VR Funhouse employing the two controller states to simulate the physical feel of two virtual objects. We used finite element modeling to downselect an internal elastomer lattice within the controller that controls deformation upon inflation. Finally, we show an example of using the compliance of the handle as an interaction input by designing an algorithm to identify rapid compressions of the handle as a signal to swap objects in the virtual environment.
{"title":"A variable shape and variable stiffness controller for haptic virtual interactions","authors":"B. M. Murray, Bryan N. Peele, Patricia A. Xu, J. Spjut, Omer Shapira, D. Luebke, R. Shepherd","doi":"10.1109/ROBOSOFT.2018.8404930","DOIUrl":"https://doi.org/10.1109/ROBOSOFT.2018.8404930","url":null,"abstract":"This paper presents an entirely compliant controller handle for use in virtual and augmented reality environments. The controller handle transitions between two static states: a semi-rigid, large diameter state when pneumatically pressurized and a soft, compressible, smaller diameter state when depressurized. We integrated the controller with a modified version of NVIDIA's VR Funhouse employing the two controller states to simulate the physical feel of two virtual objects. We used finite element modeling to downselect an internal elastomer lattice within the controller that controls deformation upon inflation. Finally, we show an example of using the compliance of the handle as an interaction input by designing an algorithm to identify rapid compressions of the handle as a signal to swap objects in the virtual environment.","PeriodicalId":306255,"journal":{"name":"2018 IEEE International Conference on Soft Robotics (RoboSoft)","volume":"21 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2018-04-24","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"117315744","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 : 2018-04-24DOI: 10.1109/ROBOSOFT.2018.8404893
Ryuji Suzuki, M. Okui, S. Iikawa, Yasuyuki Yamada, Taro Nakamura
This paper reports on an improvement to a feedforward controller for a straight-fiber-type artificial muscle that can control the amount of contraction, stiffness, and contraction force by use of an experimental identification model. This straight-fiber-type artificial muscle has a higher contraction force and a higher contraction rate than a McKibben artificial muscle. In a previous study, we developed a feedforward controller for a straight-fiber-type artificial muscle based on a mechanical model. However, this controller could not accurately control the stiffness or the contraction force. A feedback controller was necessary to compensate for the lack of feedforward control accuracy, which increased the system complexity. In addition, the calculations of the previous controller were so complex that the microcontroller could not keep up with the sequential calculations. This is not practical when the controller is used in devices such as an assist suit. In this paper, to solve these problems, we propose a novel feedforward controller based on an experimental identification model whose calculations are simpler than the previous ones. An experimental identification model enables the feedforward controller to improve the accuracy by identifying the parameters used in the model. Also, we compare the accuracy of the proposed controller with the previous one.
{"title":"Novel feedforward controller for straight-fiber-type artificial muscle based on an experimental identification model","authors":"Ryuji Suzuki, M. Okui, S. Iikawa, Yasuyuki Yamada, Taro Nakamura","doi":"10.1109/ROBOSOFT.2018.8404893","DOIUrl":"https://doi.org/10.1109/ROBOSOFT.2018.8404893","url":null,"abstract":"This paper reports on an improvement to a feedforward controller for a straight-fiber-type artificial muscle that can control the amount of contraction, stiffness, and contraction force by use of an experimental identification model. This straight-fiber-type artificial muscle has a higher contraction force and a higher contraction rate than a McKibben artificial muscle. In a previous study, we developed a feedforward controller for a straight-fiber-type artificial muscle based on a mechanical model. However, this controller could not accurately control the stiffness or the contraction force. A feedback controller was necessary to compensate for the lack of feedforward control accuracy, which increased the system complexity. In addition, the calculations of the previous controller were so complex that the microcontroller could not keep up with the sequential calculations. This is not practical when the controller is used in devices such as an assist suit. In this paper, to solve these problems, we propose a novel feedforward controller based on an experimental identification model whose calculations are simpler than the previous ones. An experimental identification model enables the feedforward controller to improve the accuracy by identifying the parameters used in the model. Also, we compare the accuracy of the proposed controller with the previous one.","PeriodicalId":306255,"journal":{"name":"2018 IEEE International Conference on Soft Robotics (RoboSoft)","volume":"413 28","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2018-04-24","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"120930381","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 : 2018-04-24DOI: 10.1109/ROBOSOFT.2018.8404911
Babar Jamil, Jaehyun Kim, Youngjin Choi
Rigid robots are required to interact with environments including objects that are sometimes delicate and sensitive due to their soft structures or easy tear. For robotic grasping tasks, hands and grippers are usually employed with soft fingertips in order to achieve the improvement of grasping adaptability and contact safety. Force sensing fingertip fabricated using soft optical waveguides is for the first time introduced to measure both contact force and position directly from the skin of fingertip. In addition, its fabrication process and techniques are presented in detail, and finally experimental results show the effectiveness of the proposed fingertip with force sensing capability.
{"title":"Force sensing fingertip with soft optical waveguides for robotic hands and grippers","authors":"Babar Jamil, Jaehyun Kim, Youngjin Choi","doi":"10.1109/ROBOSOFT.2018.8404911","DOIUrl":"https://doi.org/10.1109/ROBOSOFT.2018.8404911","url":null,"abstract":"Rigid robots are required to interact with environments including objects that are sometimes delicate and sensitive due to their soft structures or easy tear. For robotic grasping tasks, hands and grippers are usually employed with soft fingertips in order to achieve the improvement of grasping adaptability and contact safety. Force sensing fingertip fabricated using soft optical waveguides is for the first time introduced to measure both contact force and position directly from the skin of fingertip. In addition, its fabrication process and techniques are presented in detail, and finally experimental results show the effectiveness of the proposed fingertip with force sensing capability.","PeriodicalId":306255,"journal":{"name":"2018 IEEE International Conference on Soft Robotics (RoboSoft)","volume":"3 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2018-04-24","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"130717225","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}
Soft robotic gloves have shown great potential in accelerating the rehabilitation process of individuals with hand pathologies. However, most of the existing soft assistive devices allow a single degree-of-freedom (DoF) movement for each finger while independent motion of finger joints plays a crucial role in hand rehabilitation. Trying to address these challenges, a novel fishbone-inspired soft actuator with multi-DoFs is proposed in this article for the first time, to the best knowledge of the authors, and a preliminary soft glove is developed. With the assistance of the glove, the Metacarpophalangeal (MCP) and the proximal interphalangeal (PIP) joints of human fingers can bend or extend independently. In this paper, the basic concept of the actuators is illustrated in detail and the structural parameters are determined with FEM models. Additionally, several groups of experiments are conducted to demonstrate the varied motion patterns of the actuators and the bending curvature of each segment in different patterns is calculated. Lastly, the efficacy as well as the dexterity of the proposed soft glove is further validated by performing complicated gestures and conducting functional grasping tests.
{"title":"Fishbone-inspired soft robotic glove for hand rehabilitation with multi-degrees-of-freedom","authors":"Yongkang Jiang, Diansheng Chen, Pengyong Liu, Xiaofang Jiao, Zilong Ping, Zi-Hao Xu, Jian Li, Ying Xu","doi":"10.1109/ROBOSOFT.2018.8404951","DOIUrl":"https://doi.org/10.1109/ROBOSOFT.2018.8404951","url":null,"abstract":"Soft robotic gloves have shown great potential in accelerating the rehabilitation process of individuals with hand pathologies. However, most of the existing soft assistive devices allow a single degree-of-freedom (DoF) movement for each finger while independent motion of finger joints plays a crucial role in hand rehabilitation. Trying to address these challenges, a novel fishbone-inspired soft actuator with multi-DoFs is proposed in this article for the first time, to the best knowledge of the authors, and a preliminary soft glove is developed. With the assistance of the glove, the Metacarpophalangeal (MCP) and the proximal interphalangeal (PIP) joints of human fingers can bend or extend independently. In this paper, the basic concept of the actuators is illustrated in detail and the structural parameters are determined with FEM models. Additionally, several groups of experiments are conducted to demonstrate the varied motion patterns of the actuators and the bending curvature of each segment in different patterns is calculated. Lastly, the efficacy as well as the dexterity of the proposed soft glove is further validated by performing complicated gestures and conducting functional grasping tests.","PeriodicalId":306255,"journal":{"name":"2018 IEEE International Conference on Soft Robotics (RoboSoft)","volume":"7 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2018-04-24","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"132666879","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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