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A Musculoskeletal Flexible-Spine Humanoid Kotaro Aiming at the Future in 15 Years Time
[chapter]
2006
Mobile Robots: towards New Applications
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This research has been supported by NEDO as a part of "Project for the Practical Application of Next-Generation Robots," and also partly supported by the Ministry of Education, Culture, Sports, Science ...
In case of a tendon-driven structure, on the other hand, several actuators cooperatively work for moving one joint, as well as each actuator can determine the posture of one joint. ...
Interaction with Humans (a) Physical softness A robot in a human environment needs physical softness to avoid hurting humans and surroundings, as well as force-feedback control such as impedance control ...
doi:10.5772/4684
fatcat:n7bpzp2ji5hzvh5sseuue2love
Soft actuation and sensing towards robot-assisted facial rehabilitation
2017
2017 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)
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To address this challenge, we propose a soft actuation method based on a tendon-driven robotic origami (robogami) and a soft sensing method based on a strain gauge with customized stretchable mesh design ...
Continuing research efforts in robot-assisted rehabilitation demand more adaptable and inherently soft wearable devices. ...
The inherent softness, the ease of actuation, and the low profile of the tendon-driven robogamis make this family of soft robots an attractive choice for light-weight wearable assistive devices with multiple ...
doi:10.1109/iros.2017.8202173
dblp:conf/iros/FirouzehP17
fatcat:4wadbslepzabbosnes4wkdas5u
Characterizing Continuous Manipulation Families for Dexterous Soft Robot Hands
2021
Frontiers in Robotics and AI
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We give an overview of the soft foam robots in production in our lab and describe novel algorithms developed to characterize manipulation families for such robots. ...
Soft robot hands offer benefits of low-cost, compliance, and customized design, with the promise of dexterity and robustness. The space of opportunities is vast and exciting. ...
We assume that the soft robot hand is driven by its controller. ...
doi:10.3389/frobt.2021.645290
pmid:33928130
pmcid:PMC8077230
fatcat:ce7jhjufxff4lpmvodaenol6c4
Towards Very Low-Cost Iterative Prototyping for Fully Printable Dexterous Soft Robotic Hands
[article]
2022
arXiv
pre-print
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The design and fabrication of soft robot hands is still a time-consuming and difficult process. ...
3D printing to create dexterous soft robotic hands. ...
Secondly, we propose a low-cost fabrication process for fully printable tendon-driven soft robotic hands of variable stiffness using only low-cost fused deposition modeling (FDM) printers, commercially ...
arXiv:2111.01869v2
fatcat:o5aduyfqp5bwjp6p2qsbmzzuqy
PUT-Hand—Hybrid Industrial and Biomimetic Gripper for Elastic Object Manipulation
2020
Electronics
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A high-level driver operating as a Robot Operating System node is also provided. All drives and circuitry of the PUT-Hand are integrated within the hand itself. ...
The manipulator features a hybrid design, being equipped with three fully actuated fingers for precise manipulation, and two underactuated, tendon-driven digits for secure power grasping. ...
Conflicts of Interest: The authors declare no conflict of interest.
Abbreviations The following abbreviations are used in this manuscript: ...
doi:10.3390/electronics9071147
fatcat:lirjausifbgabmdrejc5mt7dqa
Soft Robotic Grippers
2018
Advanced Materials
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Acknowledgements This work was supported in part by the Swiss National Centre of Competence in Research (NCCR) Robotics, the FLAG ERA RoboCom++ project, and the Hasler Foundation. ...
[32] [33] [34] [35]
Tendon-Driven Inspired by human fingers, tendon-driven underactuated structures have been widely employed in robotic hands and grippers. ...
[70] developed a prosthetic gripper made of 3D printed tendon-driven structures mimicking the shape of the human hand. ...
doi:10.1002/adma.201707035
pmid:29736928
fatcat:ysjvdzllnneirolc6hmkxc5k2e
Tendon-Based Stiffening for a Pneumatically Actuated Soft Manipulator
2016
IEEE Robotics and Automation Letters
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The mechanical design of the soft, stiffness-controllable robot arm is presented in Section IV along with the overall control architecture. ...
The contributions of this paper are as follows: • The antagonistic actuation principle (pneumatic and tendon-driven actuation) is applied to a soft robotic segment made of a silicone structure, extending ...
doi:10.1109/lra.2016.2523120
dblp:journals/ral/ShivaSNFFGCMAW16
fatcat:nwxow4kxo5ddbht4k4ezvojyjm
Review of machine learning methods in soft robotics
2021
PLoS ONE
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However, compared to rigid robots, soft robots have issues in modeling, calibration, and control in that the innate characteristics of the soft materials can cause complex behaviors due to non-linearity ...
followed by a summary of the existing machine learning methods for soft robots. ...
Schlagenhauf et al. tested LR to control a tendon-driven soft robot hand, Cyberglove. ...
doi:10.1371/journal.pone.0246102
pmid:33600496
pmcid:PMC7891779
fatcat:alu4zm72irespj6wydikzjb6ie
Bio-Inspired Soft Grippers Based on Impactive Gripping
2021
Advanced Science
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For example, human hands and bird feet are composed of rigid frames and soft joints. ...
An exhaustive and updated analysis of each type of gripper is provided. Moreover, this review offers an overview of the different stiffness-controllable strategies developed in recent years. ...
[52] designed a soft hand with a good bending capacity (a bending angle of 305°with a weight of 20 g). The tendon-driven artificial finger of the soft hand has a resemblance to the human finger. ...
doi:10.1002/advs.202002017
pmid:33977041
pmcid:PMC8097330
fatcat:ijmgj46bkza6nhc6dib5qgtryy
Wearable Robotic Glove Design Using Surface-Mounted Actuators
2020
Frontiers in Bioengineering and Biotechnology
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While most of the traditional robot hand is driven by rotating the joint directly with a rigid body, our exo-glove deforms a robotic finger's skin and, thus, the hand skeleton joints. ...
We expect the aforementioned biomimetic features of our proposed method will benefit not only traditional robotic hands design but also the design of prosthetic hands and robot power-assisted hand glove ...
Next, the actuators of the tendon-driven mechanism should (c) not increase the length of the overall robotic hand. ...
doi:10.3389/fbioe.2020.548947
pmid:33102453
pmcid:PMC7546395
fatcat:hxf6ilzgczhnhhpnn4jcjiquoq
FoamFactor: Hydrogel-Foam Composite with Tunable Stiffness and Compressibility
[article]
2021
arXiv
pre-print
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Enabled by the large volumetric changes of hydrogel dispersions, the material is soft and compressible when dehydrated and becomes stiffer and rather incompressible when hydrated. ...
transmission systems, and self-deploying robotic grippers. ...
It has been used as the body of a soft robot wrapped by a sensing fabric [4] . Combined with silicone skin layer, foam was used to design pneumatic soft robots [27] and fluid pumps [18] . ...
arXiv:2103.12645v1
fatcat:joldw4hc2vetvbmgrbjiblwfya
CLASH: Compliant Low Cost Antagonistic Servo Hands
2018
2018 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)
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The hands provide a research platform for both hand-in-hand and robotic grasping. Design aspects are discussed, and an initial experimental validation verifies the hands' performance. ...
The hands approach the robustness of the DLR Awiwi hand with a much lower complexity and cost. ...
The authors would like to thank Tilo Wüsthof for his assistance in designing the housings, Nikolaus Seitz for the layout of PCB electronics, Igor Merkowski for his contribution to the hand design, and ...
doi:10.1109/iros.2018.8593903
dblp:conf/iros/FriedlH0RG18
fatcat:uulgoeqme5bfnduqu5fyv3mnti
Development of a Multi-functional Soft Robot (SNUMAX) and Performance in RoboSoft Grand Challenge
2016
Frontiers in Robotics and AI
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SNUMAX: Multi-functional Soft Robot Frontiers in Robotics and AI | www.frontiersin.org ...
This paper describes the design of these components, and how they worked together to allow the robot to perform the contest's navigation and manipulation tasks. ...
The Dynamixel Pro is driven by its own control board (OpenCM; Robotis, Inc.), and the board is controlled by the on-robot MCU. ...
doi:10.3389/frobt.2016.00063
fatcat:4hiy2ddgbfdgbch7jan5s4fji4
HFAM: Soft Hydraulic Filament Artificial Muscles for Flexible Robotic Applications
2020
IEEE Access
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INDEX TERMS fluid-driven artificial muscles, soft actuators, soft exoskeletons, soft robotics, tendondriven mechanisms, wearable devices. ...
The use of soft artificial muscles (SAMs) is rapidly increasing in various domains such as haptics, robotics, and medicine. ...
HFAM-DRIVEN SOFT WEARABLE ROBOTIC GLOVE Here we demonstrate the use of the HFAM-like tendon-driven mechanisms for the development of a soft wearable glove to potentially assist the wearers with hand impairment ...
doi:10.1109/access.2020.3046163
fatcat:goqv2rbo75bipjny3deaoy3s6i
Design, realization and sensorization of the dexterous iCub hand
2010
2010 10th IEEE-RAS International Conference on Humanoid Robots
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In this paper we describe the hand of the humanoid iCub, an open source robotic platform funded by the European Commission. ...
The principal design rationale was the necessity to supply the robot with sufficiently dexterous and sensorized hands in order to study complex skills such as manipulation. ...
Above the flexible PCBs in the palm and the fingertips is a roughly 2mm thick layer of soft silicone foam (Soma Foama 15 from Smooth-On). ...
doi:10.1109/ichr.2010.5686825
dblp:conf/humanoids/SchmitzPNNMS10
fatcat:o5zeopnavrh2hjqohgwbmg2ck4
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