2019 2nd IEEE International Conference on Soft Robotics (RoboSoft)最新文献_第10页

Generalized Delta Mechanisms from Soft Actuators 软执行器的广义增量机构

2019 2nd IEEE International Conference on Soft Robotics (RoboSoft) Pub Date : 2019-04-01 DOI: 10.1109/ROBOSOFT.2019.8722794

Laura H. Blumenschein, Yigit Mcnguc

引用次数: 3

A Method to Fabricate Complex Structure for Variable Stiffness Manipulators Based on Low-Melting-Point Alloy 基于低熔点合金的变刚度机械臂复杂结构制造方法

2019 2nd IEEE International Conference on Soft Robotics (RoboSoft) Pub Date : 2019-04-01 DOI: 10.1109/ROBOSOFT.2019.8722786

Fengxu Wang, Zhiguang Xing, Xinbo Wang, Jianwen Zhao

引用次数: 0

A piezoresistive flexible sensor to detect soft actuator deformation 一种用于检测软执行器变形的压阻式柔性传感器

2019 2nd IEEE International Conference on Soft Robotics (RoboSoft) Pub Date : 2019-04-01 DOI: 10.1109/ROBOSOFT.2019.8722776

M. Maselli, Debora Zrinscak, Vanni Magliola, M. Cianchetti

{"title":"A piezoresistive flexible sensor to detect soft actuator deformation","authors":"M. Maselli, Debora Zrinscak, Vanni Magliola, M. Cianchetti","doi":"10.1109/ROBOSOFT.2019.8722776","DOIUrl":"https://doi.org/10.1109/ROBOSOFT.2019.8722776","url":null,"abstract":"A textile-based strain sensor for measuring the length of a McKibben pneumatic actuator has been developed. McKibben actuators are flexible, lightweight, and widely used in all those applications where compliance and safety are required, e.g. soft robotics and power assisting device. The actuator length needs to be measured to control the device accurately. However, properties such as flexibility and lightness might be lost if rigid sensors such as potentiometers or linear encoders are directly attached to the actuators. For this reason, flexible and stretchable sensors are necessary. In this study, a flexible sensor using conductive textile is proposed to actively measure the length of manufactured McKibben actuators. Firstly, the electro-mechanical characteristics of the proposed sensor were obtained and a model to compensate its nonlinearities was evaluated. Secondly, an estimation of the accuracy was performed during dynamic actuator contractions. The results showed that, using this sensor, a direct measurement of the actuator axial displacement can be obtained within 20% error, without affecting its performances in terms of contraction.","PeriodicalId":207634,"journal":{"name":"2019 2nd IEEE International Conference on Soft Robotics (RoboSoft)","volume":"15 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2019-04-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"116088347","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}

引用次数: 1

Tele-Operable Controlling System for Hand Gesture Controlled Soft Robot Actuator 手势控制软机器人执行器的遥操作控制系统

2019 2nd IEEE International Conference on Soft Robotics (RoboSoft) Pub Date : 2019-04-01 DOI: 10.1109/ROBOSOFT.2019.8722756

P. Gunawardane, R. Pallewela, Nimali T. Medagedara

{"title":"Tele-Operable Controlling System for Hand Gesture Controlled Soft Robot Actuator","authors":"P. Gunawardane, R. Pallewela, Nimali T. Medagedara","doi":"10.1109/ROBOSOFT.2019.8722756","DOIUrl":"https://doi.org/10.1109/ROBOSOFT.2019.8722756","url":null,"abstract":"This paper focuses on investigating the delays of a tele-operable bilateral system design with a soft actuator. The setup we have used is governed by realizing control signals obtained from hand gestures through the Internet, over a long distance. The control signals are necessary to be received promptly to the controller and lags are important to minimize in establishing real time control of the system. Slave side is a soft actuator made out of an elastomer material which is controlled by pneumatic actuation. Solenoid valves are used to control the actuator. Through out the experimentation, we have assumed the actuator to follow the Neo Hookean (hyper-elastic model) behavior. A data glove is used to realize the bending angle and forces generated during soft grasping by the operator's finger. Then these control signals are transmitted to the slave side using Internet. These signals are used to control the air pressure of the cavities in soft actuator. A closed loop system is established by attaching a flex sensor in the soft actuator. Message Queuing Telemetry Transport (MQTT) server is used to deliver the data packets which has control data. Several experimentations are carried out in different geographical locations to study the behavior and delays associated with the setup. We have mainly encountered delays due to communication (mainly Round Trip Delay Time (RTT)), elastic saturation and minor delays due to various other factors. This paper studies and discusses delays and their possible causes. We have compared the elastic saturation delays obtained by the finite element model and delays measured by experiments. Final results of the study revealed the importance of considering these delay factors in design level to establish real-time control in soft actuator systems.","PeriodicalId":207634,"journal":{"name":"2019 2nd IEEE International Conference on Soft Robotics (RoboSoft)","volume":"1 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2019-04-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"134174905","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}

引用次数: 2

Structured motor exploration for adaptive learning-based tracking in soft robotic manipulators 柔性机械臂自适应学习跟踪的结构化运动探索

2019 2nd IEEE International Conference on Soft Robotics (RoboSoft) Pub Date : 2019-04-01 DOI: 10.1109/ROBOSOFT.2019.8722767

Y. Ansari, C. Laschi, E. Falotico

{"title":"Structured motor exploration for adaptive learning-based tracking in soft robotic manipulators","authors":"Y. Ansari, C. Laschi, E. Falotico","doi":"10.1109/ROBOSOFT.2019.8722767","DOIUrl":"https://doi.org/10.1109/ROBOSOFT.2019.8722767","url":null,"abstract":"Kinematic control of soft robotic manipulators is a challenging problem particularly for systems that are both globally and locally redundant. This article presents a learning-based task-space kinematic controller that enables tracking in such soft robotic manipulators. The novelty of the work is a bioinspired structured sampling mechanism that actively regulates the variance in motor movements during motor exploration. It generates a database that is applied to a direct learning architecture, thereby, formulating an inverse model at the position-level. The controller is validated in simulation on a 12 degrees-of-freedom modular manipulator comprised of elemental modules with three longitudinal actuators and one radial actuator. Experiments demonstrate consistency in performance across multiple unseen trajectories and repeatability of each task. Furthermore, the performance remains uncompromised in altered motor conditions, provided task-relevant motor variance. The results exhibit accurate, repeatable, and adaptive tracking behavior of the system and are promising for the advancement of these systems.","PeriodicalId":207634,"journal":{"name":"2019 2nd IEEE International Conference on Soft Robotics (RoboSoft)","volume":"32 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2019-04-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"131719417","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}

引用次数: 2

Dimension Optimization of Pneumatically Actuated Soft Continuum Manipulators 气动软连续体机械臂尺寸优化

2019 2nd IEEE International Conference on Soft Robotics (RoboSoft) Pub Date : 2019-04-01 DOI: 10.1109/ROBOSOFT.2019.8722816

Xiangyu Peng, Ningbin Zhang, Lisen Ge, Guoying Gu

引用次数: 13

Manoeuvring of an aquatic soft robot using thrust-vectoring 基于推力矢量的水生软体机器人机动

2019 2nd IEEE International Conference on Soft Robotics (RoboSoft) Pub Date : 2019-04-01 DOI: 10.1109/ROBOSOFT.2019.8722732

Tao Wang, A. Lidtke, F. G. Serchi, G. Weymouth

引用次数: 6

Surface Undulation Detection System Using Wearable Artificial Skin Layer with Strain Gauge 带应变计的可穿戴人工皮肤层表面波动检测系统

2019 2nd IEEE International Conference on Soft Robotics (RoboSoft) Pub Date : 2019-04-01 DOI: 10.1109/ROBOSOFT.2019.8722760

T. Masaki, Mitsuhito Ando, T. Takei, H. Fujimoto, H. Mochiyama

引用次数: 4

Antagonistic Pneumatic Actuators with Variable Stiffness for Soft Robotic Applications 柔性机器人用变刚度对抗性气动执行器

2019 2nd IEEE International Conference on Soft Robotics (RoboSoft) Pub Date : 2019-04-01 DOI: 10.1109/ROBOSOFT.2019.8722803

Saravana Prashanth Murali Babu, A. Sadeghi, A. Mondini, B. Mazzolai

{"title":"Antagonistic Pneumatic Actuators with Variable Stiffness for Soft Robotic Applications","authors":"Saravana Prashanth Murali Babu, A. Sadeghi, A. Mondini, B. Mazzolai","doi":"10.1109/ROBOSOFT.2019.8722803","DOIUrl":"https://doi.org/10.1109/ROBOSOFT.2019.8722803","url":null,"abstract":"In this paper, we developed and demonstrated two variable stiffness soft elastomeric actuators, each of them composed of two symmetric pneumatic chambers (one chamber with segments and the other one with fiber reinforcement) and an inextensible layer embedded in the middle. Both actuators demonstrate enhanced properties by providing bi-directional motion and higher capacity of withstanding external loads. The symmetric assembly of two chambers in each actuator allows to demonstrate the antagonistic behavior. Thus, the proposed actuators are named Antagonistic Pneumatic Actuators (APA Pneunet and APA FRA - Fiber-Reinforced Actuator). The inextensible layer in the middle of the two chambers in each actuator limits their elongation; instead, an isometric expansion results when a pressure is applied to each chamber with a consequent bending of the structure. By applying equal pressure, these actuators increase their stiffening behavior. In such condition, each chamber supports the bending of the other one, and this generates a stiffer structure, where its stiffness is changed by varying the applied pressure on either chambers. We characterized the APA actuators in terms of actuation force displacement, both in axial and lateral load condition. The results showed a good performance of both the APA (Pneunet and FRA) actuators, providing stiffness at the same time of actuation. For instance, in axial position, the APA Pneunet and FRA actuators showed 19.93N and 29.6N in passive mode and 23.53N and 44.87N in active mode (maximum pressure 1.0 bar), respectively.","PeriodicalId":207634,"journal":{"name":"2019 2nd IEEE International Conference on Soft Robotics (RoboSoft)","volume":"1 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2019-04-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"130479211","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}

引用次数: 10

Automated Recycling Separation Enabled by Soft Robotic Material Classification 由软机器人物料分类实现自动回收分离

2019 2nd IEEE International Conference on Soft Robotics (RoboSoft) Pub Date : 2019-04-01 DOI: 10.1109/ROBOSOFT.2019.8722747

Lillian Chin, J. Lipton, Michelle C. Yuen, Rebecca Kramer‐Bottiglio, D. Rus

引用次数: 31