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Stiffness Analysis of a Pneumatic Soft Manipulator Based on Bending Shape Prediction

Ying Zhang, Wenlin Chen, Jie Chen, Qiang Cheng, Haikuan Zhang, Chaoqun Xiang, Lina Hao
2020 IEEE Access  
INDEX TERMS Soft manipulator, PAM, bending shape prediction, variable stiffness, the Cosserat theory.  ...  The stiffness characteristics of the soft manipulator are quantitatively analyzed by bending shape prediction under different loading and inflation conditions, and the prediction is built upon a nonlinear  ...  Stiffness characteristic analyses based on manipulator shape prediction are conducted.  ... 
doi:10.1109/access.2020.2991423 fatcat:4eicvbsua5euxo6ophbf4n3wte

Kinematic Modelling and Experimental Validation of a Foldable Pneumatic Soft Manipulator

Zhuoqun Liu, Xiang Zhang, Hongwei Liu, Yong Chen, Yiyong Huang, Xiaoqian Chen
2020 Applied Sciences  
The soft manipulator is a structure composed of pneumatic actuators and inflatable straight arms.  ...  Based on this design, the kinematic model of one foldable pneumatic module is developed and presented.  ...  Conflicts of Interest: The authors declare no conflict of interest.  ... 
doi:10.3390/app10041447 fatcat:3bazwsqrb5azbcdxure7oc4sau

Biomimetic Artificial Joints Based on Multi-Material Pneumatic Actuators Developed for Soft Robotic Finger Application

Shumi Zhao, Yisong Lei, Ziwen Wang, Jie Zhang, Jianxun Liu, Pengfei Zheng, Zidan Gong, Yue Sun
2021 Micromachines  
To precisely achieve a series of daily finger bending motions, a soft robotic finger corresponding to the anatomical range of each joint was designed in this study with multi-material pneumatic actuators  ...  A simplified mathematical model was used for the bending mechanism description and provides guidance for the multi-material pneumatic actuator fabrication (e.g., stiffness and thickness) and structural  ...  Although actuators with high stiffness could bear a heavy load, they have some limitations in adapting to diverse shapes of objects during manipulating in practical applications [14] .  ... 
doi:10.3390/mi12121593 pmid:34945443 pmcid:PMC8706791 fatcat:ceccdivfxbgsvflwpexk27k3vq

Leveraging Elastic instabilities for Amplified Performance: spine-inspired high-speed and high-force soft robots [article]

Yichao Tang, Yinding Chi, Jiefeng Sun, Tzu-Hao Huang, Omid H. Maghsoudi, Andrew Spence, Jianguo Zhao, Hao Su, Jie Yin
2020 Science Advances   accepted
Soft machines typically exhibit slow locomotion speed and low manipulation strength because of intrinsic limitations of soft materials.  ...  Here, we present a generic design principle that harnesses mechanical instability for a variety of spine-inspired fast and strong soft machines.  ...  Such a high locomotion speed is 2.1 times the speed of its counterpart soft crawler based on the SBA (middle of Fig. 4C ) and 4.7 times the speed of the hybrid soft crawler based on the H-SBA (top of  ... 
doi:10.1126/sciadv.aaz6912 pmid:32494714 pmcid:PMC7209986 arXiv:1810.08571v2 fatcat:zgx3wbj6ynfmbjhfl3xpwtcvwm

Soft Pneumatic Actuators: A Review of Design, Fabrication, Modeling, Sensing, Control and Applications

Matheus S. Xavier, Charbel D. Tawk, Ali Zolfagharian, Joshua Pinskier, David Howard, Taylor Young, Jiewen Lai, Simon M. Harrison, Yuen K. Yong, Mahdi Bodaghi, Andrew J. Fleming
2022 IEEE Access  
Research Fellow with the University of Wollongong, where he worked on soft prosthetic hands with sensing capabilities, soft wearable devices, and soft dexterous grippers.  ...  In addition to a historical overview, there is a special emphasis on recent advances such as novel designs, differential simulators, analytical and numerical modeling methods, topology optimization, data-driven  ...  SoRoSim is a MATLAB toolbox based on the geometric variable strain approach providing a unified framework for modeling, analysis, and simulation of soft, rigid, and hybrid manipulators [261] (Fig. 3f  ... 
doi:10.1109/access.2022.3179589 fatcat:nxdgxuorkjhcnoxwqc47gakone

Sleeved Bending Actuators for Soft Grippers: A Durable Solution for High Force-to-Weight Applications

Geneviève Miron, Benjamin Bédard, Jean-Sébastien Plante
2018 Actuators  
a larger one for the manipulation of heavy material (>5 kg) of various weights and sizes.  ...  The proposed actuator is based on design principles previously proven to improve the life of pneumatic artificial muscles, where a sleeve provides a uniform reinforcement that reduces local stresses and  ...  Most pneumatic control equipment was graciously sponsored by Festo. Conflicts of Interest: The authors declare no conflict of interest. Actuators 2018, 7, 40  ... 
doi:10.3390/act7030040 fatcat:wztyjhen7rgjfnk3adsrz3vk2m

A Geometry Deformation Model for Braided Continuum Manipulators

S. M. Hadi Sadati, S. Elnaz Naghibi, Ali Shiva, Yohan Noh, Aditya Gupta, Ian D. Walker, Kaspar Althoefer, Thrishantha Nanayakkara
2017 Frontiers in Robotics and AI  
In this paper, for the first time, we introduce the bending effect in the model of a braided extensile pneumatic actuator with both stiff and bendable threads.  ...  Then, the effect of the manipulator cross-section deformation on the constant curvature and variable curvature models is investigated using simple analytical results from a novel geometry deformation method  ...  of one pneumatic chamber (D), module cross section deforms from a perfect circular shape when bent (E), a STIFF-FLOP braided extensor actuator (F), the actuator bends instead of pure elongation due to  ... 
doi:10.3389/frobt.2017.00022 fatcat:5m7z5xyeqndcbl4vgfs6ooveny

Review of Soft Fluidic Actuators: Classification and Materials Modeling Analysis

Amir Pagoli, Frederic Chapelle, Juan Antonio Corrales Ramón, Youcef Mezouar, Yuri Lapusta
2021 Smart materials and structures (Print)  
Although the figures presented show that in a small range of stress-strain data, most of these models can predict the material model acceptably, few of them predict it accurately for large strain-stress  ...  Regarding the fact that the performance of soft actuators is dependent on material selection, we then focus on the behaviors and mechanical properties of the various types of silicone which can be found  ...  It was also carried out with the support of the Fondation de l'Avenir, Paris, France, 2018, AP-RM-18-020 and the ANR agency (project MANIMAT ANR-20-CE33-0005).  ... 
doi:10.1088/1361-665x/ac383a fatcat:ztuwjwuygrbsfasedfdj5wtlda

Editorial: Soft Robotic Modeling and Control: Bringing Together Articulated Soft Robots and Soft-Bodied Robots

Cosimo Della Santina, Robert K. Katzschmann, Antonio Bicchi, Daniela Rus
2021 The international journal of robotics research  
Best et al. present an experimental analysis of modelbased controllers for simultaneous stiffness and position control of pneumatically actuated soft robots.  ...  An active learning framework based on Gaussian process regression was used for deriving a non-parametric model of pneumatically actuated articulated soft robots.  ... 
doi:10.1177/0278364921998088 fatcat:qheexbryg5fitas4qrc2nvzrau

Deformation Modeling and Simulation of a Novel Bionic Software Robotics Gripping Terminal Driven by Negative Pressure Based on Classical Differential Algorithm

Yinuo Chen, Ligang Yao, Zhenya Wang, Shahid Mumtaz
2022 Computational Intelligence and Neuroscience  
A general pneumatic soft gripper is proposed in this paper.  ...  Combined with the torque balance theory, the mathematical theoretical model of bending deformation of soft gripper is established based on Yeoh constitutive model and classical differential geometry.  ...  Figure 1 : 1 Figure 1: Structure of soft manipulator: (a) three-dimensional model of soft manipulator; (b) specific dimensions parameters of soft manipulator.  ... 
doi:10.1155/2022/2207906 pmid:35571716 pmcid:PMC9106473 fatcat:osrhu36xlrhehmz6rjq6i43w7u

Skins and Sleeves for Soft Robotics: Inspiration from Nature and Architecture

Constantina Lekakou, Yahya Elsayed, Tao Geng, Chakravarthini M. Saaj
2015 Advanced Engineering Materials  
actuated, soft robot of variable stiffness.  ...  the development of the actuated shape.  ...  Acknowledgments Research partially was funded by the European Commission's Seventh Framework Program under grant agreement 287728 in the framework of EU project STIFF-FLOP.  ... 
doi:10.1002/adem.201400406 fatcat:ipdbu3zm5je7pkizspw2dfsime

Bio-Inspired Soft Grippers Based on Impactive Gripping

Liang Zhou, Lili Ren, You Chen, Shichao Niu, Zhiwu Han, Luquan Ren
2021 Advanced Science  
Based on this, the present review focuses on the recent research progress of bio-inspired soft grippers based on impactive gripping.  ...  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.  ...  The bending actuators of the hand are SMA strips, and the proposed analysis model can precisely predict the output performances.  ... 
doi:10.1002/advs.202002017 pmid:33977041 pmcid:PMC8097330 fatcat:ijmgj46bkza6nhc6dib5qgtryy

Soft Robotics in Minimally Invasive Surgery

Mark Runciman, Ara Darzi, George P. Mylonas
2019 Soft Robotics  
We propose a standardized comparison methodology to characterize soft robotics for various MIS applications, which will aid designers producing the next generation of devices.  ...  There was low diversity in the device designs and a wide-ranging level of detail regarding their capabilities.  ...  The views expressed in this publication are those of the author(s) and not necessarily those of the NHS, the NIHR, or the Department of Health and Social Care.  ... 
doi:10.1089/soro.2018.0136 pmid:30920355 pmcid:PMC6690729 fatcat:5j2onzrxcjf2rdacvkjd6bvcb4

A 3D printed monolithic soft gripper with adjustable stiffness

Rahim Mutlu, Charbel Tawk, Gursel Alici, Emre Sariyildiz
2017 IECON 2017 - 43rd Annual Conference of the IEEE Industrial Electronics Society  
Finger bending and gripping capabilities of the monolithic soft gripper were experimentally tested.  ...  We developed a monolithic soft gripper, with variable stiffness fingers, that was fabricated as a onepiece device.  ...  CE140100012), and by the School of Mechanical, Materials, Mechatronic and Biomedical Engineering, University of Wollongong.  ... 
doi:10.1109/iecon.2017.8217084 dblp:conf/iecon/MutluTAS17 fatcat:tfzugiha25cqlfs5twd2cc6qnu

Reprogrammable soft actuation and shape-shifting via tensile jamming

Bilige Yang, Robert Baines, Dylan Shah, Sreekalyan Patiballa, Eugene Thomas, Madhusudhan Venkadesan, Rebecca Kramer-Bottiglio
2021 Science Advances  
In each case, the deformed state was predicted well by FE analysis (FEA), reinforcing its utility as a design tool for jamming fiber-based robots.  ...  The capability of the fibers to tune tensile stiffness on a higher magnitude than bending stiffness allows effective redistribution of the elastic energy on the thin sheet between stretching and bending  ...  The continuum arm was manufactured by attaching two omnidirectional actuators in series and mounting the free end of one of them to a base plate.  ... 
doi:10.1126/sciadv.abh2073 pmid:34597130 fatcat:3tltly3p6vbw3m2ghrxcm5zj2u
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