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Polyurethane-Based Modular Series Elastic Upgrade to a Robotics Actuator [chapter]

Leandro Tomé Martins, Christopher Tatsch, Eduardo Henrique Maciel, Renato Ventura Bayan Henriques, Reinhard Gerndt, Rodrigo Silva da Guerra
2015 Lecture Notes in Computer Science  
This article extends previous work, presenting a novel polyurethane based compliant spring system designed to be attached to a conventional robotics servo motor, turning it into a series elastic actuator  ...  The polyurethane spring, had its design derived from a iterative FEM-based optimization process.  ...  A Series Elastic Actuator [8] basically consists of traditional sti↵ servo actuator in series with a spring connected to the load, as shown in Figure 1 .  ... 
doi:10.1007/978-3-319-29339-4_29 fatcat:4dee6fbszngz5abexjtf5tbdey

Design of the Passive Joints of Underactuated Modular Soft Hands for Fingertip Trajectory Tracking

Gionata Salvietti, Irfan Hussain, Monica Malvezzi, Domenico Prattichizzo
2017 IEEE Robotics and Automation Letters  
In this work, we propose a method to design tendondriven underactuated hands whose fingertips can track a predefined trajectory, when actuated.  ...  The modular approach furthermore allows the user to easily customize the hand according to specific tasks or trajectories.  ...  A. Problem definition Let us assume a hand composed of n f fingers, with n q joints, actuated by a series of n t tendons.  ... 
doi:10.1109/lra.2017.2718099 dblp:journals/ral/SalviettiHMP17 fatcat:pw2pcmjzpndmtnylqes3jt7ope

Pneumatic Soft Robots: Challenges and Benefits

Hang Su, Xu Hou, Xin Zhang, Wen Qi, Shuting Cai, Xiaoming Xiong, Jing Guo
2022 Actuators  
Furthermore, a discussion about the challenges and benefits of the recent advancement of the pneumatic soft robot is provided.  ...  This article aims to investigate the solutions to develop and research the pneumatic soft robot. This paper reviews the status and the main progress of the recent research on pneumatic soft robots.  ...  Thanks to its modular design, the robot can be used for a wide range of applications.  ... 
doi:10.3390/act11030092 fatcat:pexsdzodhjgmvpcu7yq3hrxgly

Design of Soft Grippers with Modular Actuated Embedded Constraints

Gabriele Maria Achilli, Maria Cristina Valigi, Gionata Salvietti, Monica Malvezzi
2020 Robotics  
The new design exploits a modular structure to increase the adaptability to the shape of the objects that have to be grasped.  ...  An example that has these characteristics is the Soft ScoopGripper a gripper that has a rigid flat surface in addition to a pair of modular fingers.  ...  Indeed, the actuators can be placed at the gripper base using cables or tendon-like structures.  ... 
doi:10.3390/robotics9040105 fatcat:266gvobanzd3dbbqmg7oi6um64

Design and Hydrodynamic Experiment Research on Novel Biomimetic Pectoral Fins of a Ray-Inspired Robotic Fish

Lingkun Chen, Shusheng Bi, Yueri Cai, Hongcheng Qiu
2022 Machines  
In this paper, the existing prototypes are categorized into three structure types, and a new bionic pectoral fin module used on a ray-inspired robotic fish was presented, together with a novel 2-DOF spatial  ...  Motion analysis of the mechanism agreed well with the pectoral fin kinematic model, providing a reliable basis to test different types of fins.  ...  Conclusions and Future Work In this paper, a new bionic pectoral fin module used on a ray-inspired robotic fish was presented, together with a novel bionic propelling mechanism as the actuating base.  ... 
doi:10.3390/machines10080606 fatcat:ragufj2unrhxbolv6w4fba6veq

Becoming Sustainable, The New Frontier in Soft Robotics

Florian Hartmann, Melanie Baumgartner, Martin Kaltenbrunner
2020 Advanced Materials  
This review outlines the rise of sustainable materials in soft and bioinspired robotics, targeting all robotic components from actuators to energy storage and electronics.  ...  From cradle to grave, one is supported by and depends on a wide range of electronic and robotic appliances, with an ever more intimate integration of the digital and biological spheres.  ...  , could sustainably upgrade our robotic creations.  ... 
doi:10.1002/adma.202004413 pmid:33336520 fatcat:rvqfgm6jofe2rivwsoacfqwckq

The mechanical design of a biologically inspired prosthetic hand, the touch hand 3

Riaan Fourie, Riaan Stopforth
2017 2017 Pattern Recognition Association of South Africa and Robotics and Mechatronics (PRASA-RobMech)  
The hands were both tested with the Yale Open Hand test, a test used to assess robotic grippers.  ...  , modular fingers, hinges and chassis.  ...  The prosthetic hand is therefore upgradable.  A modular system that allows for the selection of a pure mechanical prosthetics hand or and mechatronics system.  A modular system that allows the mechatronics  ... 
doi:10.1109/robomech.2017.8261120 fatcat:cxkm3aaul5bzdjpj6m263mmjou

Conceptual design and multidisciplinary optimization of in-plane morphing wing structures

Daisaku Inoyama, Brian P. Sanders, James J. Joo, Douglas K. Lindner
2006 Smart Structures and Materials 2006: Modeling, Signal Processing, and Control  
Distributed sensors based on Brillouin scattering has drawn increasing attentions due to their capability of measuring strain and temperature continually over a large distance.  ...  Snap-through buckling is a step further in the direction of using non-linear mechanics for actuator design.  ...  Polyurethane coating was employed in order to minimize the solvent loss.  ... 
doi:10.1117/12.658686 fatcat:rqnvt2atkjgnvpog5pivwjejzm

Pressure Actuated Cellular Structures [article]

Markus Pagitz
2020 arXiv   pre-print
A particular focus is put on the efficient simulation and optimization of compliant pressure actuated cellular structures.  ...  However, the main purpose of this document is the development of a novel concept for shape changing, gapless high lift devices that is inspired by the nastic movement of plants.  ...  Based on the same actuation principles, a significant speedup can only be achieved by the storage and sudden release of elastic energy.  ... 
arXiv:1901.10829v2 fatcat:ldqmv7vsw5dsbhetrennmafcoi

Parameter Adaptive [chapter]

2014 CIRP Encyclopedia of Production Engineering  
Machine Tool Technologies Research Foundation and Mori Seiki, Sandvik Coromant, Toolex, and Nikken companies are also acknowledged for their kind supports to the research.  ...  Acknowledgements The authors would like to acknowledge the supports of the Scientific and Technological Research Council of Turkey (TUBITAK Grant No: MAG110M697) and Koc University Surface Science and  ...  modules and the platform for a series of products in a product family.  ... 
doi:10.1007/978-3-642-20617-7_100339 fatcat:ge4mgx5n3bbuzhdbikiodk2eqi

A Summary Review of Wireless Sensors and Sensor Networks for Structural Health Monitoring

J. P. Lynch
2006 The Shock and vibration digest  
A benefit of wireless structural monitoring systems is that they are inexpensive to install because extensive wiring is no longer required between sensors and the data acquisition system.  ...  This paper is intended to serve as a summary review of the collective experience the structural engineering community has gained from the use of wireless sensors and sensor networks for monitoring structural  ...  Known as DIA-MOND-II, this library is modular, thereby allowing a user to assemble a selected set of algorithms into a single analysis procedure.  ... 
doi:10.1177/0583102406061499 fatcat:dmalfe7ipfewlj6er4e2kjwwyi

The Robotic Multi-Object Focal Plane System of the Dark Energy Spectroscopic Instrument (DESI) [article]

Joseph Harry Silber, Parker Fagrelius, Kevin Fanning, Michael Schubnell, Jessica Nicole Aguilar, Steven Ahlen, Jon Ameel, Otger Ballester, Charles Baltay, Chris Bebek, Dominic Benton Beard, Robert Besuner (+88 others)
2022 arXiv   pre-print
The robots automatically re-target their optical fibers every 10 - 20 minutes, each to a precision of several microns, with a reconfiguration time less than 2 minutes.  ...  In addition to the 5,020 robotic positioners and optical fibers, DESI's Focal Plane System includes 6 guide cameras, 4 wavefront cameras, 123 fiducial point sources, and a metrology camera mounted at the  ...  The authors are honored to be permitted to conduct scientific research on Iolkam Du'ag (Kitt Peak), a mountain with particular significance to the Tohono O'odham Nation.  ... 
arXiv:2205.09014v1 fatcat:tnspnmxbdnb27bvq2zcabqvp5u

Functional Soft Robotic Actuators Based on Dielectric Elastomers

Jun Shintake
2016
They gave me a great opportunity to work on the collaborative project, sensory-motor tissues for soft robots, between the Laboratory of Intelligent Systems and the Microsystems for Space Technologies Laboratory  ...  me a lot of freedom to work between the two labs.  ...  In robotic systems based on soft actuators, variable stiffness functionality changes the elastic modulus of the structure, and is expected to allow the robots to exert intentional forces to environments  ... 
doi:10.5075/epfl-thesis-6855 fatcat:zb6s4a34trcfxjacie5prpdbnu

DESIGN AND CONTROL OF MECHANICAL STRUCTURE OF LEGO ROBOT WITH 3 DOF

Gheorghe GÎLCĂ, BÎZDOACĂ Nicu - George
2015 Fiabilitate şi Durabilitate  
This paper discusses a simplified design of Humanoid Robot with 3 DOF. The main objective is to analyze the theoretical and practical challenges involved in making it.  ...  The humanoid robot is programmed to go forward, backward, to rotate, to stop when it encounters obstacles.  ...  Due to their modular structure, they can be set up rapidly and with a high degree of flexibility.  ... 
doaj:d70c6b7e79cc408699e5ac56232070a7 fatcat:wvodnclj7nbmdidejlu5uh6pui

Case-study of a user-driven prosthetic arm design: bionic hand versus customized body-powered technology in a highly demanding work environment

Wolf Schweitzer, Michael J. Thali, David Egger
2018 Journal of NeuroEngineering and Rehabilitation  
METHODS: As unilateral below elbow amputee user, the first author is in a unique position to provide direct comparison of a "bionic" myoelectric iLimb Revolution (Touch Bionics) and a customized bodypowered  ...  Methods: As unilateral below elbow amputee user, the first author is in a unique position to provide direct comparison of a "bionic" myoelectric iLimb Revolution (Touch Bionics) and a customized body-powered  ...  A shift towards modular design shortened repair times from a week to 1-2 days for critical repairs.  ... 
doi:10.1186/s12984-017-0340-0 pmid:29298708 pmcid:PMC5751817 fatcat:efklhpunlfazpnfjuotpys5fwe
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