Pub Date : 2024-02-22DOI: 10.1177/02783649241235215
J. Heo, Kausthubharam, Minyong Jung, Wonjin Kim, Suhwan Jeong, Dae-Seob Song, Ying-Jun Quan, Ji Ho Jeon, Rodrigo Ribeiro de Moura, Sung-Hoon Ahn
Over the past decade, remotely powered micro actuators have gained increased attention for biomedical and environmental remediation applications, owing to their ability to access confined regions and the nonintrusive nature of control. Recent studies focus on improving the functionality and versatility of micro actuators through the development of new fabrication and actuation techniques. However, there is a possibility that a limited understanding of the scaling impact of various physical principles governing design and control has affected the successful implementation of such devices in practical scenarios. Thus, the main focus of this review is to evaluate the most widely utilized manufacturing methods and remote actuation sources in light of various characteristics such as resolution, productivity, shape complexity, actuation speed, actuation mode, operating medium, and so on. State-of-the-art developments in each type of manufacturing and actuation are introduced and delineated. Finally, the limitations of current devices are reviewed, and the future direction to enable the full potential of this field is provided.
{"title":"Scaling effects of manufacturing processes and actuation sources on control of remotely powered micro actuators","authors":"J. Heo, Kausthubharam, Minyong Jung, Wonjin Kim, Suhwan Jeong, Dae-Seob Song, Ying-Jun Quan, Ji Ho Jeon, Rodrigo Ribeiro de Moura, Sung-Hoon Ahn","doi":"10.1177/02783649241235215","DOIUrl":"https://doi.org/10.1177/02783649241235215","url":null,"abstract":"Over the past decade, remotely powered micro actuators have gained increased attention for biomedical and environmental remediation applications, owing to their ability to access confined regions and the nonintrusive nature of control. Recent studies focus on improving the functionality and versatility of micro actuators through the development of new fabrication and actuation techniques. However, there is a possibility that a limited understanding of the scaling impact of various physical principles governing design and control has affected the successful implementation of such devices in practical scenarios. Thus, the main focus of this review is to evaluate the most widely utilized manufacturing methods and remote actuation sources in light of various characteristics such as resolution, productivity, shape complexity, actuation speed, actuation mode, operating medium, and so on. State-of-the-art developments in each type of manufacturing and actuation are introduced and delineated. Finally, the limitations of current devices are reviewed, and the future direction to enable the full potential of this field is provided.","PeriodicalId":510058,"journal":{"name":"The International Journal of Robotics Research","volume":"24 9","pages":""},"PeriodicalIF":0.0,"publicationDate":"2024-02-22","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"140440514","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 : 2024-01-20DOI: 10.1177/02783649241227249
Subyeong Ku, Byung-Hyun Song, Taejun Park, Younghoon Lee, Yong-Lae Park
This study proposes a modularized soft robotic arm with integrated sensing of human touches for physical human–robot interactions. The proposed robotic arm is constructed by connecting multiple soft manipulator modules, each of which consists of three bellow-type soft actuators, pneumatic valves, and an on-board sensing and control circuit. By employing stereolithography three-dimensional (3D) printing technique, the bellow actuator is capable of incorporating embedded organogel channels in the thin wall of its body that are used for detecting human touches. The organogel thus serves as a soft interface for recognizing the intentions of the human operators, enabling the robot to interact with them while generating desired motions of the manipulator. In addition to the touch sensors, each manipulator module has compact, soft string sensors for detecting the displacements of the bellow actuators. When combined with an inertial measurement unit (IMU), the manipulator module has a capability of estimating its own pose or orientation internally. We also propose a localization method that allows us to estimate the location of the manipulator module and to acquire the 3D information of the target point in an uncontrolled environment. The proposed method uses only a single depth camera combined with a deep learning model and is thus much simpler than those of conventional motion capture systems that usually require multiple cameras in a controlled environment. Using the feedback information from the internal sensors and camera, we implemented closed-loop control algorithms to carry out tasks of reaching and grasping objects. The manipulator module shows structural robustness and the performance reliability over 5,000 cycles of repeated actuation. It shows a steady-state error and a standard deviation of 0.8 mm and 0.3 mm, respectively, using the proposed localization method and the string sensor data. We demonstrate an application example of human–robot interaction that uses human touches as triggers to pick up and manipulate target objects. The proposed soft robotic arm can be easily installed in a variety of human workspaces, since it has the ability to interact safely with humans, eliminating the need for strict control of the environments for visual perception. We believe that the proposed system has the potential to integrate soft robots into our daily lives.
{"title":"Soft modularized robotic arm for safe human–robot interaction based on visual and proprioceptive feedback","authors":"Subyeong Ku, Byung-Hyun Song, Taejun Park, Younghoon Lee, Yong-Lae Park","doi":"10.1177/02783649241227249","DOIUrl":"https://doi.org/10.1177/02783649241227249","url":null,"abstract":"This study proposes a modularized soft robotic arm with integrated sensing of human touches for physical human–robot interactions. The proposed robotic arm is constructed by connecting multiple soft manipulator modules, each of which consists of three bellow-type soft actuators, pneumatic valves, and an on-board sensing and control circuit. By employing stereolithography three-dimensional (3D) printing technique, the bellow actuator is capable of incorporating embedded organogel channels in the thin wall of its body that are used for detecting human touches. The organogel thus serves as a soft interface for recognizing the intentions of the human operators, enabling the robot to interact with them while generating desired motions of the manipulator. In addition to the touch sensors, each manipulator module has compact, soft string sensors for detecting the displacements of the bellow actuators. When combined with an inertial measurement unit (IMU), the manipulator module has a capability of estimating its own pose or orientation internally. We also propose a localization method that allows us to estimate the location of the manipulator module and to acquire the 3D information of the target point in an uncontrolled environment. The proposed method uses only a single depth camera combined with a deep learning model and is thus much simpler than those of conventional motion capture systems that usually require multiple cameras in a controlled environment. Using the feedback information from the internal sensors and camera, we implemented closed-loop control algorithms to carry out tasks of reaching and grasping objects. The manipulator module shows structural robustness and the performance reliability over 5,000 cycles of repeated actuation. It shows a steady-state error and a standard deviation of 0.8 mm and 0.3 mm, respectively, using the proposed localization method and the string sensor data. We demonstrate an application example of human–robot interaction that uses human touches as triggers to pick up and manipulate target objects. The proposed soft robotic arm can be easily installed in a variety of human workspaces, since it has the ability to interact safely with humans, eliminating the need for strict control of the environments for visual perception. We believe that the proposed system has the potential to integrate soft robots into our daily lives.","PeriodicalId":510058,"journal":{"name":"The International Journal of Robotics Research","volume":"1 10","pages":""},"PeriodicalIF":0.0,"publicationDate":"2024-01-20","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"139523962","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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