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

A Lightweight, Soft Wearable Sleeve for Rehabilitation of Forearm Pronation and Supination 一种用于前臂旋前和旋前康复的轻质柔软可穿戴套筒

2019 2nd IEEE International Conference on Soft Robotics (RoboSoft) Pub Date : 2019-04-14 DOI: 10.1109/ROBOSOFT.2019.8722783

Se-Hun Park, Jaehyun Yi, Dongwook Kim, Youngbin Lee, Helen Sumin Koo, Yong‐Lae Park

{"title":"A Lightweight, Soft Wearable Sleeve for Rehabilitation of Forearm Pronation and Supination","authors":"Se-Hun Park, Jaehyun Yi, Dongwook Kim, Youngbin Lee, Helen Sumin Koo, Yong‐Lae Park","doi":"10.1109/ROBOSOFT.2019.8722783","DOIUrl":"https://doi.org/10.1109/ROBOSOFT.2019.8722783","url":null,"abstract":"Forearm disabilities can result from a number of diseases or injuries, such as stroke, spinal cord injuries (SPI), and acquired/traumatic brain injuries (ABI/TBI). Patients with forearm disabilities suffer from daily activities and follow-up care and rehabilitation are critical to recovery of the patients in this case. However, they have to make personal trips to clinics or hospitals for follow-up treatments since most of existing devices available are bulky, heavy and even expensive in general, discouraging the patients from having them home. This paper proposes a pneumatic inflatable rehabilitation device designed with bio-inspiration. The device is lightweight, safe, and affordable compared to conventional devices. When the actuators of the device are inflated, the contractions of the actuators mimic the motions of the human muscles of the forearm, assisting pronation and supination. The actuators are made of heat-sealable fabrics using a custom-built patterning system. This system facilitates rapid fabrication of repetitive and complex sealing patterns. Also, the proposed rehabilitation device, which can be conjointly used with typical clothing materials, provides comfort for the user by easily conforming the three-dimensional geometries of the forearm. To characterize the system, the angles and the torques of the wrist generated by the device were measured. The result of simple closed-loop control using a vision feedback was also presented.","PeriodicalId":207634,"journal":{"name":"2019 2nd IEEE International Conference on Soft Robotics (RoboSoft)","volume":"48 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2019-04-14","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"121991214","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: 19

Towards more Energy Efficient Pneumatic Soft Actuators using a Port-Hamiltonian Approach 迈向更节能的气动软执行器使用的端口-哈密顿方法

2019 2nd IEEE International Conference on Soft Robotics (RoboSoft) Pub Date : 2019-04-14 DOI: 10.1109/ROBOSOFT.2019.8722709

Ho-Tak D. Chun, Jamie O. Roberts, M. E. Sayed, S. Aracri, A. Stokes

{"title":"Towards more Energy Efficient Pneumatic Soft Actuators using a Port-Hamiltonian Approach","authors":"Ho-Tak D. Chun, Jamie O. Roberts, M. E. Sayed, S. Aracri, A. Stokes","doi":"10.1109/ROBOSOFT.2019.8722709","DOIUrl":"https://doi.org/10.1109/ROBOSOFT.2019.8722709","url":null,"abstract":"Soft pneumatic actuators are very popular in the soft robotic community due to their ease of manufacturing and simplicity of control. Currently, the efficiency of such soft actuators and their ability to do useful work are rarely investigated in a formal approach. The lack of task-orientated development approaches presents a barrier to utilize soft robotic systems in our everyday lives. In this paper, we describe an experimental approach based on port-Hamiltonian theory applied on a type of pneumatic network (pneu-net) actuator to investigate the efficiency of task-orientated work. We can obtain efficiency from the external interactions of the port-Hamiltonian system. If we can minimize the internal energy interactions, then the power continuous nature of the port-Hamiltonian structure ensures more input energy will result in more useful work done at the output. We found out that higher efficiency actuators can be achieved with a softer material and a thinner wall thickness in the desired direction of the deformation. The internal mechanical energy storage is reduced as a result. However, if the task requires a higher work-done then a stiffer material is required. We can start to define a design approach based on the task. The task can be generalized in terms of energy. We can select the material properties suitable for the magnitude of work done. We can design the geometry to minimize the internal energy stored. The empirical model of the port-Hamiltonian structure provides insights into how the mechanical efficiency varies in terms of design parameters and the port-Hamiltonian approach is a step towards more practical, task-orientated soft robotic systems.","PeriodicalId":207634,"journal":{"name":"2019 2nd IEEE International Conference on Soft Robotics (RoboSoft)","volume":"1 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2019-04-14","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"130558695","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: 9

Actuation Frequency-dependent Automatic Behavioral Switching on Caterpillar-inspired Crawling Robot 基于驱动频率的毛毛虫爬行机器人自动行为切换

2019 2nd IEEE International Conference on Soft Robotics (RoboSoft) Pub Date : 2019-04-14 DOI: 10.1109/ROBOSOFT.2019.8722785

T. Umedachi, M. Shimizu, Y. Kawahara

引用次数: 1

Architectures of Soft Pneumatic Actuators Inspired by Muscle Fiber Arrangements 受肌肉纤维结构启发的软气动执行器结构

2019 2nd IEEE International Conference on Soft Robotics (RoboSoft) Pub Date : 2019-04-14 DOI: 10.1109/ROBOSOFT.2019.8722734

Sreeshankar Satheeshbabu, Nicholas Thompson, Chenzhang Xiao, Girish Krishnan

{"title":"Architectures of Soft Pneumatic Actuators Inspired by Muscle Fiber Arrangements","authors":"Sreeshankar Satheeshbabu, Nicholas Thompson, Chenzhang Xiao, Girish Krishnan","doi":"10.1109/ROBOSOFT.2019.8722734","DOIUrl":"https://doi.org/10.1109/ROBOSOFT.2019.8722734","url":null,"abstract":"Architectures or networks are prevalent in both engineered and nature's material systems, where a single unit cell is topologically combined in a repeatable fashion to attain extremal global properties. In this paper, we work towards understanding one such architecture inspired by pennation, which is commonly found in skeletal muscles to tailor its stroke and force properties. To mimic muscle fibers, we use soft compliant pneumatic actuators called Fiber Reinforced Elastomeric Enclosures (FREEs) to generate force and stroke. The FREEs are combined in a dyadic configuration to create an engineered equivalent of pennate muscles called a pennate building block (PBB). The study of the PBB reveals critical pennate angles that produce high stroke and force values respectively. The PBB thus acts as an equivalent of a gear and other transmission elements in soft robotics. Lastly, two variant of the pennate architecture are analyzed for their force deformation capabilities and the results are used to design and experimentally validate two prototypes geared towards different applications thereby highlighting the benefits of leveraging architectures for tuning global properties.","PeriodicalId":207634,"journal":{"name":"2019 2nd IEEE International Conference on Soft Robotics (RoboSoft)","volume":"197 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2019-04-14","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"122540026","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

Low-pressure Soft Inflatable Joint Driven by Inner Tendon 内筋驱动的低压软充气关节

2019 2nd IEEE International Conference on Soft Robotics (RoboSoft) Pub Date : 2019-04-14 DOI: 10.1109/ROBOSOFT.2019.8722764

Young ah Seong, Ryuma Niiyama, Y. Kawahara, Y. Kuniyoshi

引用次数: 5

Design and Characterization of a 3D Printed Soft Robotic Wrist Sleeve with 2 DoF for Stroke Rehabilitation 用于中风康复的2自由度3D打印柔性机器人腕套的设计与表征

2019 2nd IEEE International Conference on Soft Robotics (RoboSoft) Pub Date : 2019-04-14 DOI: 10.1109/ROBOSOFT.2019.8722771

Benjamin W. K. Ang, C. Yeow

引用次数: 20

EPAM: Eversive Pneumatic Artificial Muscle EPAM:可伸缩气动人造肌肉

2019 2nd IEEE International Conference on Soft Robotics (RoboSoft) Pub Date : 2019-04-14 DOI: 10.1109/ROBOSOFT.2019.8722787

T. Abrar, F. Putzu, J. Konstantinova, K. Althoefer

{"title":"EPAM: Eversive Pneumatic Artificial Muscle","authors":"T. Abrar, F. Putzu, J. Konstantinova, K. Althoefer","doi":"10.1109/ROBOSOFT.2019.8722787","DOIUrl":"https://doi.org/10.1109/ROBOSOFT.2019.8722787","url":null,"abstract":"Pneumatic Artificial Muscles, which are lightweight actuators with inherently compliant behavior, are broadly recognized as safe actuators for devices that assist or interact with humans. This paper presents the design and implementation of a soft pneumatic muscle based on the eversion principle - Eversive Pneumatic Artificial Muscle (EPAM). The proposed pneumatic muscle exerts a pulling force when elongating based on the eversion (growing) principle. It is capable of extending its length by a minimum of 100% when fully inflated. In contrast to other soft pneumatic actuators, such as the McKibben's muscle, which contract when pressurized, our EPAM extends when pressure is increased. Additionally, important advantages of employing the eversion principle are the capability to achieve high pulling forces and an efficient force to pressure ratio. In a pivoting joint/link mechanism configuration the proposed muscle provides motion comparable to human arm flexion and extension. In this work, we present the design of the proposed EPAM, study its behavior, and evaluate its displacement capability and generated forces in an agonistic and antagonistic joint/link arrangement. The developed EPAM prototype with a diameter of 25 mm and a length of 250 mm shows promising results, capable of exerting 10 N force when pressurized up to 62 KPa.","PeriodicalId":207634,"journal":{"name":"2019 2nd IEEE International Conference on Soft Robotics (RoboSoft)","volume":"46 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2019-04-14","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"127160458","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: 18

Multi-Material Soft Strain Sensors with High Gauge Factors for Proprioceptive Sensing of Soft Bending Actuators 柔性弯曲执行器本体感觉传感的高测量因子多材料软应变传感器

2019 2nd IEEE International Conference on Soft Robotics (RoboSoft) Pub Date : 2019-04-14 DOI: 10.1109/ROBOSOFT.2019.8722739

Myungsun Park, Yunsik Ohm, Dongwook Kim, Yong‐Lae Park

{"title":"Multi-Material Soft Strain Sensors with High Gauge Factors for Proprioceptive Sensing of Soft Bending Actuators","authors":"Myungsun Park, Yunsik Ohm, Dongwook Kim, Yong‐Lae Park","doi":"10.1109/ROBOSOFT.2019.8722739","DOIUrl":"https://doi.org/10.1109/ROBOSOFT.2019.8722739","url":null,"abstract":"Highly stretchable strain sensors, with embedded microchannels filled with conductive liquid, have been widely used in various applications in soft robotics for detecting different types of deformation modes, when attached to human or robot bodies. One of recent applications that draws an attention is direct integration of soft sensors with soft actuators for proprioceptive feedback. However, it is not easy to obtain a high resolution in curvature sensing when combined with bending actuators in which curvature is indirectly measured from strain sensing, since the placement of soft sensors are limited to the location where the strain sensitivity is relatively small. Therefore, we propose a new design of high gauge factor strain sensors using a multi-material structure. By alternately arranging low and high stiffness elastomers, the structure experiences amplified strain changes on each of the low-stiffness regions. The gauge factor was significantly increased as high as over three times of a conventional single material sensor. In this paper, the design and fabrication of the proposed sensor are described with an analytical model. The sensor was tested while integrated with a PneuNet bending actuator for curvature detection as an application.","PeriodicalId":207634,"journal":{"name":"2019 2nd IEEE International Conference on Soft Robotics (RoboSoft)","volume":"7 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2019-04-14","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"126718820","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: 9

Reducing Out-of-Plane Deformation of Soft Robotic Actuators for Stable Grasping 减少柔性机器人执行器的面外变形以实现稳定抓取

2019 2nd IEEE International Conference on Soft Robotics (RoboSoft) Pub Date : 2019-04-14 DOI: 10.1109/ROBOSOFT.2019.8722823

Rob B. N. Scharff, Jun Wu, J. Geraedts, Charlie C. L. Wang

引用次数: 17

Low-Cost Wireless Modular Soft Tensegrity Robots 低成本无线模块化软张拉整体机器人

2019 2nd IEEE International Conference on Soft Robotics (RoboSoft) Pub Date : 2019-04-14 DOI: 10.1109/ROBOSOFT.2019.8722723

Jonathan Kimber, Zongliang Ji, Aikaterini Petridou, T. Sipple, Kentaro Barhydt, James Boggs, L. Dosiek, John Rieffel

引用次数: 12