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Diaphragm-Type Pneumatic-Driven Soft Grippers for Precision Harvesting

Eduardo Navas, Roemi Fernández, Manuel Armada, Pablo Gonzalez-de-Santos
2021 Agronomy  
This article presents a new design approach for soft grippers based on modules that incorporate the concept of bellows and combine it with the versatility and replicability of a 3D printed structure.  ...  Furthermore, the definition of a method to determine the soft grippers features is also presented, with the aim of serving as the basis for a future benchmarking study on soft actuators.  ...  variable adaptability and compliance [1] .  ... 
doi:10.3390/agronomy11091727 fatcat:3lh6yv4b3ncd5cmj6gf7kx6ldm

Bending angle prediction and control of soft pneumatic actuators with embedded flex sensors – A data-driven approach

Khaled Elgeneidy, Niels Lohse, Michael Jackson
2018 Mechatronics (Oxford)  
., LOHSE, N. and JACKSON, M., 2017. Bending angle prediction and control of soft pneumatic actuators with embedded flex sensors -a data-driven approach. Mechatronics, https://doi.  ...  Ultimately, the aim is to create more controllable soft grippers based on such SPAs with embedded sensing capabilities, to be used in applications requiring both a 'soft touch' as well as a more controllable  ...  The support of which is gratefully acknowledged.  ... 
doi:10.1016/j.mechatronics.2017.10.005 fatcat:ztk3to4ztbaetelthiibxrajne

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.  ...  , sensing, control, and applications of soft robotic devices.  ...  geometries and high compliance of soft actuators impose significant challenges to the development of sensing and control strategies, especially in real-world applications that involve interactions with  ... 
doi:10.1109/access.2022.3179589 fatcat:nxdgxuorkjhcnoxwqc47gakone

Pneumatic Soft Robots: Challenges and Benefits

Hang Su, Xu Hou, Xin Zhang, Wen Qi, Shuting Cai, Xiaoming Xiong, Jing Guo
2022 Actuators  
flexibility, good compliance, excellent adaptability, and natural and safe interactivity.  ...  Furthermore, a discussion about the challenges and benefits of the recent advancement of the pneumatic soft robot is provided.  ...  Conflicts of Interest: The authors declare no conflict of interest.  ... 
doi:10.3390/act11030092 fatcat:pexsdzodhjgmvpcu7yq3hrxgly

Design and Calibration of a Force/Tactile Sensor for Dexterous Manipulation

Marco Costanzo, Giuseppe De Maria, Ciro Natale, Salvatore Pirozzi
2019 Sensors  
The sensor is suitably designed to provide the robotic grasping device with a sensory system mimicking the human sense of touch, namely, a device sensitive to contact forces, object slip and object geometry  ...  The presence of a soft contact poses a number of challenges in the calibration of the sensor, and that is another contribution of this work.  ...  Conflicts of Interest: The authors declare no conflict of interest.  ... 
doi:10.3390/s19040966 fatcat:k4frckidondqdlnrsk7z3wi7w4

Soft Autonomous Materials—Using Active Elasticity and Embedded Distributed Computation [chapter]

Nikolaus Correll, Çağdaş D. Önal, Haiyi Liang, Erik Schoenfeld, Daniela Rus
2014 Springer Tracts in Advanced Robotics  
These mechanisms and algorithms may provide a basis for creating a new generation of biomimetic soft robots that can negotiate openings and manipulate objects with an unprecedented level of compliance  ...  The impressive agility of living systems seems to stem from modular sensing, actuation and communication capabilities, as well as intelligence embedded in the mechanics in the form of active compliance  ...  Correll and Ç .Önal contributed equally to this work. This work was done in the Distributed Robotics Laboratory at MIT with partial support from the DARPA DSO "Chembots" project (W911NF-08-C-0060).  ... 
doi:10.1007/978-3-642-28572-1_16 fatcat:g525beabqzckhhtdsbz2ynmc4i

A Data‐Driven Review of Soft Robotics

Barclay Jumet, Marquise D. Bell, Vanessa Sanchez, Daniel J. Preston
2021 Advanced Intelligent Systems  
Any opinions, findings, and conclusions or recommendations expressed in this material are those of the authors and do not necessarily reflect the views of the National Science Foundation.  ...  Acknowledgements The authors are grateful for helpful discussions with Colter J. Decker, Aman Eujayl, Dr. Anoop Rajappan, Mark W. Schara, Rachel A. Shveda, Te Faye Yap, and Mingde Zeng.  ...  [543] or in an actuator with a variable effective length  ... 
doi:10.1002/aisy.202100163 fatcat:nd3je66a7vdabpccnopsygt44a

Basic Body Plans for Soft Modular Pneubotics in Architecture

Davor Andrić, Karin Šerman, Josip Galić
2019 PROSTOR  
Soft robotic arms like some of those created at Otherlab are made of pneumatic parts of constant pressure and form, and pressure actuator chambers that move those parts. 56 Pneubotic art installation  ...  ES Autonomous soft robotic fish; 2D robotic manipulator; Soft robotic compliant grippers; Robotic tentacles with three-dimensional mobility 36 C3 (membrane + expandable core) BPC3 = EM + FS Soft  ...  KArin ŠermAn, PhD, is a professor of architectural theory and head of the Department of history and theory of architecture at the same Faculty.  ... 
doi:10.31522/p.27.2(58).5 fatcat:m7eyxbzahvhkpjmw7u4eyksmgq

Towards the Automated Coverlay Assembly in FPCB Manufacturing: Concept and Preliminary Tests [chapter]

Marcello Valori, Vito Basile, Simone Pio Negri, Paolo Scalmati, Chiara Renghini, Irene Fassi
2021 IFIP Advances in Information and Communication Technology  
Rigid-flex PCBs consists of rigid board portions with flexible interconnections and are commonly used in a wide variety of industrial applications.  ...  The overall assembly strategy relies on the development of a customized multi-hole vacuum gripper, whose concept is presented and contextualized in the proposed assembly process by outlining a suitable  ...  Depending on the specific FPCB design, coverlays are characterized by different dimensions and planar shapes, thus, the gripping strategy shall enable the compliance with a wide variety of geometries.  ... 
doi:10.1007/978-3-030-72632-4_3 fatcat:nhew5g7545gglfzw5iuvwvynse

Mathematical Modeling of a Multi-Chamber Pneumatic Soft Actuator

Eduardo Miguel Sierra, Jose Luis Ordoñez-Avila
2022 Actuators  
Owing to their compliance with most shapes, soft actuators are regarded as cost-effective solutions for grasping irregular objects.  ...  This study offers a mathematical model that outlines a relationship between the energy provided by a pressure source and the expected behavior of multi-chamber pneumatic soft actuators through hyper-elastic  ...  Acknowledgments: This work was supported by the Research Fund of Universidad Tecnológica Centroamericana (UNITEC, Honduras). Conflicts of Interest: The authors declare no conflict of interest.  ... 
doi:10.3390/act11080221 fatcat:fp2hw3zkkjcaxcyc7s73xoejze

Design and Simulation Experiment of Rigid-Flexible Soft Humanoid Finger

Jiteng Sun, Chang Chen, Long Wang, Yuandong Liang, Guojin Chen, Ming Xu, Ruru Xi, Huifeng Shao
2022 Machines  
The optimal design and simulation analysis of the human gripper and the feasibility of the application have practical guiding significance.  ...  The mold casting process is used to complete the preparation of human-like fingers and design a pneumatic control system for experiments combined with 3D printing technology.  ...  Conflicts of Interest: The authors declare no conflict of interest.  ... 
doi:10.3390/machines10060448 fatcat:jawcfuia2vb6tjq7iqsv536axi

Intelligent Soft Surgical Robots for Next‐Generation Minimally Invasive Surgery

Jiaqi Zhu, Liangxiong Lyu, Yi Xu, Huageng Liang, Xiaoping Zhang, Han Ding, Zhigang Wu
2021 Advanced Intelligent Systems  
Acknowledgements The materials based on the work were partly financially supported by National Key R&D Program of China (2017YFB1303100) and National Science Foundation of China (U1613204).  ...  Both are actuated by regulating fluid pressure in soft chambers.  ...  Compared with the pressure difference activation, the latter two can be convenient for the miniaturization of surgical instruments in certain applications but may lose some controllability.  ... 
doi:10.1002/aisy.202100011 fatcat:3zntsfo5yrajbel5pyfn4yjrcq

Design, Implementation and Evaluation of a Variable Stiffness Transradial Hand Prosthesis [article]

Elif Hocaoglu, Volkan Patoglu
2019 arXiv   pre-print
The control of the variable stiffness transradial hand prosthesis is achieved by an sEMG based natural human-machine interface.  ...  We present the design, implementation, and experimental evaluation of a low-cost, customizable, easy-to-use transradial hand prosthesis capable of adapting its compliance.  ...  In the fourth step, degassing is implemented with -0.2 to -0.5 bar pressure to remove air bubbles from the silicone material, as presented in Figure 5 (d).  ... 
arXiv:1910.12569v1 fatcat:prkuvm7f5be6tadp5ipaw77o4m

Capability by Stacking: The Current Design Heuristic for Soft Robots

Stephen Mahon, Jamie Roberts, Mohammed Sayed, Derek Chun, Simona Aracri, Ross McKenzie, Markus Nemitz, Adam Stokes
2018 Biomimetics  
As the community continues to increase the capabilities of soft systems—by stacking more and more functional blocks—we will encounter a practical limit with the number of parallelized control lines.  ...  In this paper, we review 20 soft systems reported in the literature and we observe this trend of one-to-one mapping of control outputs to functional blocks.  ...  Conflicts of Interest: The authors declare no conflict of interest.  ... 
doi:10.3390/biomimetics3030016 pmid:31105238 pmcid:PMC6352699 fatcat:odj5e5ipozbtpnmvarori7qa44

A Soft, Controllable, High Force Density Linear Brake Utilizing Layer Jamming

Inrak Choi, Nick Corson, Lizzie Peiros, Elliot W. Hawkes, Sean Keller, Sean Follmer
2018 IEEE Robotics and Automation Letters  
We introduce the design, modeling, and performance analysis of the SLJB and demonstrate variable tensile resisting forces through the regulation of vacuum pressure.  ...  In this paper, we leverage the concept of layer jamming, previously used for variable stiffness devices, to create a controllable, high force-density, soft layer jamming brake (SLJB).  ...  Caccavale for helping preliminary tensile testing and friction measurement.  ... 
doi:10.1109/lra.2017.2761938 dblp:journals/ral/ChoiCPHKF18 fatcat:duvum3qcd5asrg5heou77gdlra
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