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A Musculoskeletal Flexible-Spine Humanoid Kotaro Aiming at the Future in 15 Years Time [chapter]

Ikuo Mizuuchi
2006 Mobile Robots: towards New Applications  
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

Amir Firouzeh, Jamie Paik
2017 2017 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)  
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

Jiatian Sun, Jonathan P. King, Nancy S. Pollard
2021 Frontiers in Robotics and AI  
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]

Dominik Bauer, Cornelia Bauer, Arjun Lakshmipathy, Roberto Shu, Nancy S. Pollard
2022 arXiv   pre-print
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

Tomasz Mańkowski, Jakub Tomczyński, Krzysztof Walas, Dominik Belter
2020 Electronics  
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

Jun Shintake, Vito Cacucciolo, Dario Floreano, Herbert Shea
2018 Advanced Materials  
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

Ali Shiva, Agostino Stilli, Yohan Noh, Angela Faragasso, Iris De Falco, Giada Gerboni, Matteo Cianchetti, Arianna Menciassi, Kaspar Althoefer, Helge A. Wurdemann
2016 IEEE Robotics and Automation Letters  
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

Daekyum Kim, Sang-Hun Kim, Taekyoung Kim, Brian Byunghyun Kang, Minhyuk Lee, Wookeun Park, Subyeong Ku, DongWook Kim, Junghan Kwon, Hochang Lee, Joonbum Bae, Yong-Lae Park (+2 others)
2021 PLoS ONE  
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

Liang Zhou, Lili Ren, You Chen, Shichao Niu, Zhiwu Han, Luquan Ren
2021 Advanced Science  
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

Jaeyoung Park, Inchan Hwang, Woochan Lee
2020 Frontiers in Bioengineering and Biotechnology  
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]

Humphrey Yang, Zeyu Yan, Danli Luo, Lining Yao
2021 arXiv   pre-print
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

Werner Friedl, Hannes Hoppner, Florian Schmidt, Maximo A. Roa, Markus Grebenstein
2018 2018 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)  
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

Jun-Young Lee, Brian Byunghyun Kang, Dae-Young Lee, Sang-Min Baek, Woong-Bae Kim, Woo-Young Choi, Jeong-Ryul Song, Hyeong-Joon Joo, Daegeun Park, Kyu-Jin Cho
2016 Frontiers in Robotics and AI  
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

Phuoc Thien Phan, Mai Thanh Thai, Trung Thien Hoang, Nigel Hamilton Lovell, Thanh Nho Do
2020 IEEE Access  
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

Alexander Schmitz, Ugo Pattacini, Francesco Nori, Lorenzo Natale, Giorgio Metta, Giulio Sandini
2010 2010 10th IEEE-RAS International Conference on Humanoid Robots  
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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