High-precision control of an antagonistic soft continuum robot for dexterous objects grasping and assembly

IF 4.1 3区工程技术 Q2 ENGINEERING, ELECTRICAL & ELECTRONIC

Sensors and Actuators A-physical Pub Date : 2025-05-08 DOI:10.1016/j.sna.2025.116669

Shoulu Gong , Xinchen Ye , Yimin Wang , Wenbo Li , Wenming Zhang , Lei Shao

{"title":"High-precision control of an antagonistic soft continuum robot for dexterous objects grasping and assembly","authors":"Shoulu Gong , Xinchen Ye , Yimin Wang , Wenbo Li , Wenming Zhang , Lei Shao","doi":"10.1016/j.sna.2025.116669","DOIUrl":null,"url":null,"abstract":"<div><div>Soft robots are increasingly recognized for their safety and biocompatibility in human-robot interactions, making them pivotal in the ongoing industrial revolution. Nonetheless, their applications are limited by challenges in programming flexibility and motion repeatability. Here, to address these challenges, we report a soft continuum robot with approximate constant curvature bending and exceptional motion repeatability based on a bionic antagonistic actuation strategy, and a geometric-based kinematic modeling approach for its precise open-loop motion control. Such an unprecedented capability is achieved by a pneumatic – cable-driven antagonistic strategy with a specially engineered pneumatic soft robot, thus providing both improved actuation and precise motion. Hence, the soft continuum robots can be expanded to include a soft continuum gripper and a soft industrial robot for diverse tasks such as fine grasping and machine cutter replacement, etc. The proposed antagonistic soft robots and kinematic modeling approach exhibit significant potential for precise and reliable motion control of soft robots, facilitating the practical application of soft robots.</div></div>","PeriodicalId":21689,"journal":{"name":"Sensors and Actuators A-physical","volume":"391 ","pages":"Article 116669"},"PeriodicalIF":4.1000,"publicationDate":"2025-05-08","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":"0","resultStr":null,"platform":"Semanticscholar","paperid":null,"PeriodicalName":"Sensors and Actuators A-physical","FirstCategoryId":"5","ListUrlMain":"https://www.sciencedirect.com/science/article/pii/S0924424725004753","RegionNum":3,"RegionCategory":"工程技术","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":null,"EPubDate":"","PubModel":"","JCR":"Q2","JCRName":"ENGINEERING, ELECTRICAL & ELECTRONIC","Score":null,"Total":0}

引用次数: 0

Abstract

Soft robots are increasingly recognized for their safety and biocompatibility in human-robot interactions, making them pivotal in the ongoing industrial revolution. Nonetheless, their applications are limited by challenges in programming flexibility and motion repeatability. Here, to address these challenges, we report a soft continuum robot with approximate constant curvature bending and exceptional motion repeatability based on a bionic antagonistic actuation strategy, and a geometric-based kinematic modeling approach for its precise open-loop motion control. Such an unprecedented capability is achieved by a pneumatic – cable-driven antagonistic strategy with a specially engineered pneumatic soft robot, thus providing both improved actuation and precise motion. Hence, the soft continuum robots can be expanded to include a soft continuum gripper and a soft industrial robot for diverse tasks such as fine grasping and machine cutter replacement, etc. The proposed antagonistic soft robots and kinematic modeling approach exhibit significant potential for precise and reliable motion control of soft robots, facilitating the practical application of soft robots.

查看原文本刊更多论文

对抗性软连续体机器人灵巧物体抓取与装配的高精度控制

软机器人因其在人机交互中的安全性和生物相容性而日益得到认可，使其在正在进行的工业革命中发挥关键作用。然而，它们的应用受到编程灵活性和运动可重复性挑战的限制。在这里，为了解决这些挑战，我们报道了一个基于仿生对抗驱动策略的具有近似恒定曲率弯曲和卓越运动重复性的软连续体机器人，以及基于几何的运动学建模方法来实现其精确的开环运动控制。这种前所未有的能力是通过气动电缆驱动对抗策略与一个特殊设计的气动软机器人实现的，从而提供了改进的驱动和精确的运动。因此，软连续体机器人可以扩展为包括软连续体夹持器和软工业机器人，用于各种任务，如精细抓取和机床刀具更换等。所提出的对抗性软机器人及其运动学建模方法为软机器人精确可靠的运动控制提供了重要的潜力，为软机器人的实际应用提供了便利。

本文章由计算机程序翻译，如有差异，请以英文原文为准。

求助全文

约1分钟内获得全文求助全文

来源期刊

Sensors and Actuators A-physical 工程技术-工程：电子与电气

CiteScore

8.10

自引率

6.50%

发文量

630

审稿时长

49 days

期刊介绍： Sensors and Actuators A: Physical brings together multidisciplinary interests in one journal entirely devoted to disseminating information on all aspects of research and development of solid-state devices for transducing physical signals. Sensors and Actuators A: Physical regularly publishes original papers, letters to the Editors and from time to time invited review articles within the following device areas: • Fundamentals and Physics, such as: classification of effects, physical effects, measurement theory, modelling of sensors, measurement standards, measurement errors, units and constants, time and frequency measurement. Modeling papers should bring new modeling techniques to the field and be supported by experimental results. • Materials and their Processing, such as: piezoelectric materials, polymers, metal oxides, III-V and II-VI semiconductors, thick and thin films, optical glass fibres, amorphous, polycrystalline and monocrystalline silicon. • Optoelectronic sensors, such as: photovoltaic diodes, photoconductors, photodiodes, phototransistors, positron-sensitive photodetectors, optoisolators, photodiode arrays, charge-coupled devices, light-emitting diodes, injection lasers and liquid-crystal displays. • Mechanical sensors, such as: metallic, thin-film and semiconductor strain gauges, diffused silicon pressure sensors, silicon accelerometers, solid-state displacement transducers, piezo junction devices, piezoelectric field-effect transducers (PiFETs), tunnel-diode strain sensors, surface acoustic wave devices, silicon micromechanical switches, solid-state flow meters and electronic flow controllers. Etc...