Pub Date : 2018-04-24DOI: 10.1109/ROBOSOFT.2018.8404890
Hen-Wei Huang, S. Lyttle, B. Nelson
Soft micromachines made out of stimuli-responsive hydrogels have the potential to emulate the navigation strategy of leukocytes to implement autonomous targeted drug delivery. Leukocytes navigate in their natural environment with a variety of strategies in response to chemical gradients. They can detect gradients and redirect their movement towards the gradient source, or adjust their speed while moving up-gradient through cell body morphing known as cell polarization. In this work, we use thermo-responsive hydrogels to engineer self-folding micromachiness that can sense near infrared (NIR) light gradients and react in a morphing manner to adjust their speed. We load drug molecules into the unfolded micromachines and encapsulate the drug by folding the micromachines at body temperature. A location of interest is targeted with an NIR light, and a rotating magnetic field is applied to navigate the microrobots to explore the region. Results from in vitro experiments demonstrate that the robots speed up while moving up-gradient, automatically stop at the location of interest, and start to release the encapsulated drug molecules by unfolding their shape. The autonomous navigation is achieved without any external imaging feedback by coordinating the sensory input and shape morphing output of the microrobots through the single degree of freedom (DOF) shape control.
{"title":"Bioinspired navigation in shape morphing micromachines for autonomous targeted drug delivery","authors":"Hen-Wei Huang, S. Lyttle, B. Nelson","doi":"10.1109/ROBOSOFT.2018.8404890","DOIUrl":"https://doi.org/10.1109/ROBOSOFT.2018.8404890","url":null,"abstract":"Soft micromachines made out of stimuli-responsive hydrogels have the potential to emulate the navigation strategy of leukocytes to implement autonomous targeted drug delivery. Leukocytes navigate in their natural environment with a variety of strategies in response to chemical gradients. They can detect gradients and redirect their movement towards the gradient source, or adjust their speed while moving up-gradient through cell body morphing known as cell polarization. In this work, we use thermo-responsive hydrogels to engineer self-folding micromachiness that can sense near infrared (NIR) light gradients and react in a morphing manner to adjust their speed. We load drug molecules into the unfolded micromachines and encapsulate the drug by folding the micromachines at body temperature. A location of interest is targeted with an NIR light, and a rotating magnetic field is applied to navigate the microrobots to explore the region. Results from in vitro experiments demonstrate that the robots speed up while moving up-gradient, automatically stop at the location of interest, and start to release the encapsulated drug molecules by unfolding their shape. The autonomous navigation is achieved without any external imaging feedback by coordinating the sensory input and shape morphing output of the microrobots through the single degree of freedom (DOF) shape control.","PeriodicalId":306255,"journal":{"name":"2018 IEEE International Conference on Soft Robotics (RoboSoft)","volume":"207 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":"115043120","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.2018.8404907
Shunichi Kurumaya, Hiroyuki Nabae, G. Endo, K. Suzumori
To realize an extremely safe robot, an exoskeleton inflatable robotic arm with thin McKibben muscles and simple driving systems installed inside the arm, except for air-supply devices, was designed and manufactured using soft materials. McKibben muscles, which are considerably thin, lightweight, flexible, and can be mass produced, are suitable for this soft robotic mechanism. The arm is safe and useful for human-friendly robots owing to its softness, low weight, and compliance. The exoskeleton inflatable robotic arm was modeled, theoretical equations were derived for the joint angle and torque, and theoretical and experimental results obtained at various structural stiffness were compared. In the experiments, the developed arm could bend at 90° and 91° on each side. Furthermore, it was proposed that experimental values can be estimated using theoretical expressions with correction factors.
{"title":"Exoskeleton inflatable robotic arm with thin McKibben muscle","authors":"Shunichi Kurumaya, Hiroyuki Nabae, G. Endo, K. Suzumori","doi":"10.1109/ROBOSOFT.2018.8404907","DOIUrl":"https://doi.org/10.1109/ROBOSOFT.2018.8404907","url":null,"abstract":"To realize an extremely safe robot, an exoskeleton inflatable robotic arm with thin McKibben muscles and simple driving systems installed inside the arm, except for air-supply devices, was designed and manufactured using soft materials. McKibben muscles, which are considerably thin, lightweight, flexible, and can be mass produced, are suitable for this soft robotic mechanism. The arm is safe and useful for human-friendly robots owing to its softness, low weight, and compliance. The exoskeleton inflatable robotic arm was modeled, theoretical equations were derived for the joint angle and torque, and theoretical and experimental results obtained at various structural stiffness were compared. In the experiments, the developed arm could bend at 90° and 91° on each side. Furthermore, it was proposed that experimental values can be estimated using theoretical expressions with correction factors.","PeriodicalId":306255,"journal":{"name":"2018 IEEE International Conference on Soft Robotics (RoboSoft)","volume":"39 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":"122880253","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.2018.8404924
Nicholas Bira, Y. Mengüç
Modern prosthetic devices continue to improve their comfort, utility, and functionality with the advent of better manufacturing methods and understandings of human biomechanics. An essential aspect of any prosthetic is the custom fit needed to interface with the residual limb of an individual. Traditionally, these custom fit devices require professional revision and fitted interfaces created from materials that complement the geometry and composition of the residual limb. Soft, elastomeric sensors have the potential to measure tissue stiffness and create 4D models to produce these custom fit prosthetics without the need for traditional methods. For this study, soft sensors comprised of cast silicone (Ecoflex-0030) and liquid eutectic Gallium-Indium were designed to measure tissue stiffness at numerous locations on the body. Using 3D printed molds, two halves of each sensor were joined and liquid metal was injected between to create a highly elastic pressure-sensitive sensor. We demonstrated that a map of tissue stiffness can be generated when several of these sensors are deployed in an array and correlated to known positions on the body. This map can then be overlaid on a 3D scan to create a model for multi-material 3D printing. This approach could be used to generate custom, unique 3D printed prosthetic interfaces. If developed further and deployed in a full array, a diagnostic pressure cuff could be a versatile tool to any prosthetist or researcher studying tissue composition.
{"title":"Measurement of tissue stiffness using soft eGa-in sensors and pressure application","authors":"Nicholas Bira, Y. Mengüç","doi":"10.1109/ROBOSOFT.2018.8404924","DOIUrl":"https://doi.org/10.1109/ROBOSOFT.2018.8404924","url":null,"abstract":"Modern prosthetic devices continue to improve their comfort, utility, and functionality with the advent of better manufacturing methods and understandings of human biomechanics. An essential aspect of any prosthetic is the custom fit needed to interface with the residual limb of an individual. Traditionally, these custom fit devices require professional revision and fitted interfaces created from materials that complement the geometry and composition of the residual limb. Soft, elastomeric sensors have the potential to measure tissue stiffness and create 4D models to produce these custom fit prosthetics without the need for traditional methods. For this study, soft sensors comprised of cast silicone (Ecoflex-0030) and liquid eutectic Gallium-Indium were designed to measure tissue stiffness at numerous locations on the body. Using 3D printed molds, two halves of each sensor were joined and liquid metal was injected between to create a highly elastic pressure-sensitive sensor. We demonstrated that a map of tissue stiffness can be generated when several of these sensors are deployed in an array and correlated to known positions on the body. This map can then be overlaid on a 3D scan to create a model for multi-material 3D printing. This approach could be used to generate custom, unique 3D printed prosthetic interfaces. If developed further and deployed in a full array, a diagnostic pressure cuff could be a versatile tool to any prosthetist or researcher studying tissue composition.","PeriodicalId":306255,"journal":{"name":"2018 IEEE International Conference on Soft Robotics (RoboSoft)","volume":"28 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":"126792390","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.2018.8405386
D. Chiaradia, M. Xiloyannis, C. W. Antuvan, A. Frisoli, L. Masia
The use of soft materials to transmit power to the human body has numerous advantages, amongst which safety and kinematic transparency stand out. In previous work we showed that a tethered fabric-based exosuit for the elbow joint, driven by an electric motor through a Bowden cable transmission, reduces the muscular effort associated with flexion movements by working in parallel with its wearer's muscles. We herein propose a refined design of the suit and present an untethered control architecture for gravity compensation and motion-intention detection. The architecture comprises four interconnected modules for power management, low-level motor control and high-level signal processing and data streaming. The controller uses a silicone stretch sensor and a miniature load cell, integrated in the fabric frame, to estimate and minimise the torque that its user needs to exert to perform a movement. We show that the device relieves its wearer from an average of 77% of the total moment required to sustain and move a light weight, with a consequent average reduction in muscular effort of 64.5%.
{"title":"Design and embedded control of a soft elbow exosuit","authors":"D. Chiaradia, M. Xiloyannis, C. W. Antuvan, A. Frisoli, L. Masia","doi":"10.1109/ROBOSOFT.2018.8405386","DOIUrl":"https://doi.org/10.1109/ROBOSOFT.2018.8405386","url":null,"abstract":"The use of soft materials to transmit power to the human body has numerous advantages, amongst which safety and kinematic transparency stand out. In previous work we showed that a tethered fabric-based exosuit for the elbow joint, driven by an electric motor through a Bowden cable transmission, reduces the muscular effort associated with flexion movements by working in parallel with its wearer's muscles. We herein propose a refined design of the suit and present an untethered control architecture for gravity compensation and motion-intention detection. The architecture comprises four interconnected modules for power management, low-level motor control and high-level signal processing and data streaming. The controller uses a silicone stretch sensor and a miniature load cell, integrated in the fabric frame, to estimate and minimise the torque that its user needs to exert to perform a movement. We show that the device relieves its wearer from an average of 77% of the total moment required to sustain and move a light weight, with a consequent average reduction in muscular effort of 64.5%.","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":"122297559","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.2018.8404900
Yun Qin, Zhenyu Wan, Yinan Sun, E. Skorina, Ming Luo, C. Onal
Snake robots are an emerging approach for navigating complicated and constrained environments. While existing snake robots rely on traditional articulated joints, we have been investigating the use of soft robotic modules which can allow for better compliance with the environment. In this article we present the first soft-material snake robot capable of non-planar locomotion. We performed experiments on the modules that make up the snake robot to determine the ideal material, settling on Ecoflex 0050. Combining 4 modules into the full soft snake, we performed locomotion experiments using both serpentine and sidewinding gaits. We determined that its maximum speed under serpentine locomotion was 131.6 mm/s (0.25 body lengths per second) while under sidewinding it was 65.2 mm/s (0.12 body lengths per second). Finally, we tested these gaits on other surfaces and found that the sidewinding could move more reliably on different surfaces.
{"title":"Design, fabrication and experimental analysis of a 3-D soft robotic snake","authors":"Yun Qin, Zhenyu Wan, Yinan Sun, E. Skorina, Ming Luo, C. Onal","doi":"10.1109/ROBOSOFT.2018.8404900","DOIUrl":"https://doi.org/10.1109/ROBOSOFT.2018.8404900","url":null,"abstract":"Snake robots are an emerging approach for navigating complicated and constrained environments. While existing snake robots rely on traditional articulated joints, we have been investigating the use of soft robotic modules which can allow for better compliance with the environment. In this article we present the first soft-material snake robot capable of non-planar locomotion. We performed experiments on the modules that make up the snake robot to determine the ideal material, settling on Ecoflex 0050. Combining 4 modules into the full soft snake, we performed locomotion experiments using both serpentine and sidewinding gaits. We determined that its maximum speed under serpentine locomotion was 131.6 mm/s (0.25 body lengths per second) while under sidewinding it was 65.2 mm/s (0.12 body lengths per second). Finally, we tested these gaits on other surfaces and found that the sidewinding could move more reliably on different surfaces.","PeriodicalId":306255,"journal":{"name":"2018 IEEE International Conference on Soft Robotics (RoboSoft)","volume":"8 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":"127962394","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.2018.8404899
Anand Kumar Mishra, F. Tramacere, B. Mazzolai
In this paper, we present an innovative probe for soil penetration inspired by the strategies of radial expansion and sloughing mechanisms exploited by plants at the level of their root apical regions (i.e., apexes). These phenomena help roots in reducing friction with soil during their movements and pressure needed for penetration. We imitated these natural features developing four different probes endowed with spheres and ball bearings in their tips. These solutions produce a sliding effect of the probe while it moves into the soil with an improvement in terms of penetration energy consumption by 13.0% and penetration force by 13.4% respect to the probe without sloughing strategy. The prototype that got the best performance required 0.4 J energy consumption, 7.1 N penetration force for 150 mm penetration depth. Additionally, we mimicked the root apex radial expansion strategy via multi-chamber soft actuators and we observed a reduction of soil impedance by 91% at 120 mm depth. Moreover, we measured a total energy saved by the probe with radial expansion by 11% in comparison with the same system without a radial expansion. We tested the bioinspired probes in a granular soil (POM, polyoxymethylene beads), in controlled environmental conditions. Our results can be useful both for improving current soil diggers and conceiving innovative tools for different application fields, such as earth and planetary exploration and geotechnical studies.
{"title":"From plant root's sloughing and radial expansion mechanisms to a soft probe for soil exploration","authors":"Anand Kumar Mishra, F. Tramacere, B. Mazzolai","doi":"10.1109/ROBOSOFT.2018.8404899","DOIUrl":"https://doi.org/10.1109/ROBOSOFT.2018.8404899","url":null,"abstract":"In this paper, we present an innovative probe for soil penetration inspired by the strategies of radial expansion and sloughing mechanisms exploited by plants at the level of their root apical regions (i.e., apexes). These phenomena help roots in reducing friction with soil during their movements and pressure needed for penetration. We imitated these natural features developing four different probes endowed with spheres and ball bearings in their tips. These solutions produce a sliding effect of the probe while it moves into the soil with an improvement in terms of penetration energy consumption by 13.0% and penetration force by 13.4% respect to the probe without sloughing strategy. The prototype that got the best performance required 0.4 J energy consumption, 7.1 N penetration force for 150 mm penetration depth. Additionally, we mimicked the root apex radial expansion strategy via multi-chamber soft actuators and we observed a reduction of soil impedance by 91% at 120 mm depth. Moreover, we measured a total energy saved by the probe with radial expansion by 11% in comparison with the same system without a radial expansion. We tested the bioinspired probes in a granular soil (POM, polyoxymethylene beads), in controlled environmental conditions. Our results can be useful both for improving current soil diggers and conceiving innovative tools for different application fields, such as earth and planetary exploration and geotechnical studies.","PeriodicalId":306255,"journal":{"name":"2018 IEEE International Conference on Soft Robotics (RoboSoft)","volume":"30 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":"128598055","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.2018.8404908
Takahiro Matsuno, S. Hirai
Previous methods to measure the deformation of a soft material attach many sensors to the material, which requires many signal wires and analog-to-digital converters to increase the measurement resolution. These approaches increase both the size of the mechanical apparatus in which the soft material must be incorporated and the concomitant risk of breakage. To avoid these difficulties, we propose herein to measure soft-material deformation based on the Euler elastic theory, which requires a minimum number of angular measurement. The target material studied is a thin flexible plate, and we use a minimum number of angular measurement to estimate and analyze the plate deformation. The results of the analysis show that when three constraints are applied, three angular data are required to estimate plate deformation. Furthermore, these results are experimentally confirmed.
{"title":"Estimating deformation of a thin flexible plate using a minimum number of angular measurement","authors":"Takahiro Matsuno, S. Hirai","doi":"10.1109/ROBOSOFT.2018.8404908","DOIUrl":"https://doi.org/10.1109/ROBOSOFT.2018.8404908","url":null,"abstract":"Previous methods to measure the deformation of a soft material attach many sensors to the material, which requires many signal wires and analog-to-digital converters to increase the measurement resolution. These approaches increase both the size of the mechanical apparatus in which the soft material must be incorporated and the concomitant risk of breakage. To avoid these difficulties, we propose herein to measure soft-material deformation based on the Euler elastic theory, which requires a minimum number of angular measurement. The target material studied is a thin flexible plate, and we use a minimum number of angular measurement to estimate and analyze the plate deformation. The results of the analysis show that when three constraints are applied, three angular data are required to estimate plate deformation. Furthermore, these results are experimentally confirmed.","PeriodicalId":306255,"journal":{"name":"2018 IEEE International Conference on Soft Robotics (RoboSoft)","volume":"54 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":"125434060","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.2018.8404922
G. Olson, Y. Mengüç
Individual soft actuators have been developed for elongation, contraction, bending and twist, but these actuators and their combinations have yet to demonstrate the range and flexibility of motion seen in common sources of biological inspiration, such as cephalopods. This paper presents a method for torsion control via sets of opposing contracting actuators wound helically around a cylindrical structure. By shortening one set of actuators, twist is developed, similar to the oblique muscles within octopus arms. The addition of helical actuators to systems with longitudinal and transverse actuators will enable control over orientation of the arm and antagonistic stiffening. A geometric model is used to quantify best-case developed twist, representing application to a constant dimension cylinder. This model is validated experimentally using a cable-driven prototype on a rigid cylinder with no torsional stiffness. To evaluate the interaction with a system of actuators, a mechanics model of the torsion actuators wrapped around a deformable center is proposed. This model is used to extend the solution given by W.M. Kier [Zoological Journal of the Linnean Society, Vol. 83, No. 4, 307-324, 1985], and shows that while significant twist can be lost to deformations of the internal structure, those with a Poisson's ratio approaching v = 0.5 mitigate this loss. Finally, the feasibility of the concept is demonstrated with McKibben actuators wound around foam.
{"title":"Helically wound soft actuators for torsion control","authors":"G. Olson, Y. Mengüç","doi":"10.1109/ROBOSOFT.2018.8404922","DOIUrl":"https://doi.org/10.1109/ROBOSOFT.2018.8404922","url":null,"abstract":"Individual soft actuators have been developed for elongation, contraction, bending and twist, but these actuators and their combinations have yet to demonstrate the range and flexibility of motion seen in common sources of biological inspiration, such as cephalopods. This paper presents a method for torsion control via sets of opposing contracting actuators wound helically around a cylindrical structure. By shortening one set of actuators, twist is developed, similar to the oblique muscles within octopus arms. The addition of helical actuators to systems with longitudinal and transverse actuators will enable control over orientation of the arm and antagonistic stiffening. A geometric model is used to quantify best-case developed twist, representing application to a constant dimension cylinder. This model is validated experimentally using a cable-driven prototype on a rigid cylinder with no torsional stiffness. To evaluate the interaction with a system of actuators, a mechanics model of the torsion actuators wrapped around a deformable center is proposed. This model is used to extend the solution given by W.M. Kier [Zoological Journal of the Linnean Society, Vol. 83, No. 4, 307-324, 1985], and shows that while significant twist can be lost to deformations of the internal structure, those with a Poisson's ratio approaching v = 0.5 mitigate this loss. Finally, the feasibility of the concept is demonstrated with McKibben actuators wound around foam.","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":"123912292","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.2018.8404898
Pedro Henrique Abrao Dias Paixao, Ananda Crystal Silva Marques Da Cunha, R. P. Bachega, Carlos Antonio Da Rocha, A. Campo
This work describes a new kind of soft gripper. Inspiration on nature is usual in Soft Robotics device creation. In this case, the inspiration came from a sea lamprey in order to create a closed structure soft robotic gripper. Usually the grippers have one or more soft actuators that act like fingers. Since it is difficult to know whether the fingers are really grasping an object, it is being proposed a closed structure to deal with this problem. While the proposed gripper involves the object as whole, a homogeneous force is applied on it. In addition to the details of the closed structure actuator manufacture description, two procedure tests are presented: an analysis of load versus pressure function and of the force versus pressure characteristics. At the end, some new research topics to the proposed soft gripper are discussed.
{"title":"Closed structure soft robotic gripper","authors":"Pedro Henrique Abrao Dias Paixao, Ananda Crystal Silva Marques Da Cunha, R. P. Bachega, Carlos Antonio Da Rocha, A. Campo","doi":"10.1109/ROBOSOFT.2018.8404898","DOIUrl":"https://doi.org/10.1109/ROBOSOFT.2018.8404898","url":null,"abstract":"This work describes a new kind of soft gripper. Inspiration on nature is usual in Soft Robotics device creation. In this case, the inspiration came from a sea lamprey in order to create a closed structure soft robotic gripper. Usually the grippers have one or more soft actuators that act like fingers. Since it is difficult to know whether the fingers are really grasping an object, it is being proposed a closed structure to deal with this problem. While the proposed gripper involves the object as whole, a homogeneous force is applied on it. In addition to the details of the closed structure actuator manufacture description, two procedure tests are presented: an analysis of load versus pressure function and of the force versus pressure characteristics. At the end, some new research topics to the proposed soft gripper are discussed.","PeriodicalId":306255,"journal":{"name":"2018 IEEE International Conference on Soft Robotics (RoboSoft)","volume":"109 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":"124734981","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.2018.8404937
A. Kandhari, K. Daltorio
Soft body locomotion can enable mobile robots that are compliant to their surroundings. To better understand earthworm-inspired locomotion, recent robots such as our Compliant Modular Mesh Worm Robot with Steering (CMMWorm-S) have been developed. For straight-line locomotion, we have shown that balancing segment extension and retraction to mitigate slip determines control wave strategy. However, to effect a turn, the waves required to eliminate slip are more complicated because they are not periodic but rather change for each segment and for each wave. Here, we geometrically prove that the body cannot be reoriented to a new straight configuration facing a new direction in a single wave without slip and that only if the body is a constant, uniform curvature will periodic control waves not require slip. The segments are represented as isosceles trapezoids in order that the model be generalizable over other types of worm-like robots that embody a positive correlation between diameter reduction and length extension. Examples of simulated orthogonal turns are provided that are motivated by slippage in orthogonal turns demonstrated on our soft robot. Future work will involve calibrating Slip Eliminating Control (SEC) to mitigate slip on the robot.
{"title":"A kinematic model to constrain slip in soft body peristaltic locomotion","authors":"A. Kandhari, K. Daltorio","doi":"10.1109/ROBOSOFT.2018.8404937","DOIUrl":"https://doi.org/10.1109/ROBOSOFT.2018.8404937","url":null,"abstract":"Soft body locomotion can enable mobile robots that are compliant to their surroundings. To better understand earthworm-inspired locomotion, recent robots such as our Compliant Modular Mesh Worm Robot with Steering (CMMWorm-S) have been developed. For straight-line locomotion, we have shown that balancing segment extension and retraction to mitigate slip determines control wave strategy. However, to effect a turn, the waves required to eliminate slip are more complicated because they are not periodic but rather change for each segment and for each wave. Here, we geometrically prove that the body cannot be reoriented to a new straight configuration facing a new direction in a single wave without slip and that only if the body is a constant, uniform curvature will periodic control waves not require slip. The segments are represented as isosceles trapezoids in order that the model be generalizable over other types of worm-like robots that embody a positive correlation between diameter reduction and length extension. Examples of simulated orthogonal turns are provided that are motivated by slippage in orthogonal turns demonstrated on our soft robot. Future work will involve calibrating Slip Eliminating Control (SEC) to mitigate slip on the robot.","PeriodicalId":306255,"journal":{"name":"2018 IEEE International Conference on Soft Robotics (RoboSoft)","volume":"71 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":"126410001","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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