2019 2nd IEEE International Conference on Soft Robotics (RoboSoft)最新文献_第3页

Evaluation of design aspects of modular pneumatic soft robotic endoscopes 模块化气动软机器人内窥镜的设计评价

2019 2nd IEEE International Conference on Soft Robotics (RoboSoft) Pub Date : 2019-04-14 DOI: 10.1109/ROBOSOFT.2019.8722749

J. A. Lenssen, H. Naghibi, M. Abayazid

{"title":"Evaluation of design aspects of modular pneumatic soft robotic endoscopes","authors":"J. A. Lenssen, H. Naghibi, M. Abayazid","doi":"10.1109/ROBOSOFT.2019.8722749","DOIUrl":"https://doi.org/10.1109/ROBOSOFT.2019.8722749","url":null,"abstract":"Minimally Invasive Surgery (MIS) and Natural Orifice Transluminal Endoscopic Surgery (NOTES) are gradually replacing purely open surgery. One of the key components in MIS or NOTES is an endoscope. Soft robotic endoscopes can provide accuracy and safe interaction with human soft tissue. In this study, the design aspects of pneumatic endoscopic soft robots are investigated. These aspects are the radial constraints (sheathing) of pneumatic chambers in the soft robotic module, the number of chambers and the geometric volume of the chambers. The evaluation is considering the influence of these design aspects on the bendability of the soft robot. Besides the module bending performance, other aspects are considered, including; reducing the pneumatic pressure applied for bending, minimizing the module dimensions, and using the design in multi-module configuration in endoscopic applications. These design aspects are evaluated using finite element models that are validated experimentally based on tests performed in this study and previous studies. The results show that despite the fact that the 4-chamber module provides higher moment arm while bending, using three chambers is more optimal for control and pneumatic hardware requirements. It was observed that outer sheathing provides more bending at lower pneumatic pressure. Moreover, the cylindrical chamber design provides higher bending capabilities, but other volumetric designs can be considered in case more space is needed for miniaturizing the design. In conclusion, the results in this study provide new insight in the design aspects of the pneumatic chambers of soft robotic endoscopes which is beneficial for bringing conceptual designs into clinical practice.","PeriodicalId":207634,"journal":{"name":"2019 2nd IEEE International Conference on Soft Robotics (RoboSoft)","volume":"123 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":"124192704","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: 11

Electrical behavior of a self-sensing actuator made of electroactive polymers 由电活性聚合物制成的自感致动器的电学行为

2019 2nd IEEE International Conference on Soft Robotics (RoboSoft) Pub Date : 2019-04-14 DOI: 10.1109/ROBOSOFT.2019.8722809

Chia-Ju Peng, F. Ribeiro, C. Plesse, Shih-Jui Chen, L. Chassagne, B. Cagneau

引用次数: 3

Soft robots locomotion and manipulation control using FEM simulation and quadratic programming 软体机器人运动与操纵控制的有限元仿真与二次规划

2019 2nd IEEE International Conference on Soft Robotics (RoboSoft) Pub Date : 2019-04-14 DOI: 10.1109/ROBOSOFT.2019.8722815

E. Coevoet, Adrien Escande, C. Duriez

引用次数: 36

Development of a Vision-Based Soft Tactile Muscularis 基于视觉的软触觉肌体的研制

2019 2nd IEEE International Conference on Soft Robotics (RoboSoft) Pub Date : 2019-04-14 DOI: 10.1109/ROBOSOFT.2019.8722814

Lac Van Duong, Rei Asahina, Jia Wang, V. A. Ho

{"title":"Development of a Vision-Based Soft Tactile Muscularis","authors":"Lac Van Duong, Rei Asahina, Jia Wang, V. A. Ho","doi":"10.1109/ROBOSOFT.2019.8722814","DOIUrl":"https://doi.org/10.1109/ROBOSOFT.2019.8722814","url":null,"abstract":"In this paper, we introduce our preliminary results in the development of a vision-based tactile sensing system at large scale, called muscularis. The muscularis is an elongated structure with a rigid transparent bone covered by a soft tactile skin whose stiffness can be varied by pressurization of a chamber. Inner layer of the skin is covered by an array of markers with reflective white coating paint. Two cameras are layout at two ends of the muscularis for tracking three-dimensional movement of markers under interaction with surrounding environment (including humans). We also proposed a method for real-time construction of the muscularis's tactile information under physical interaction/impact. As a result, the muscularis can estimate detailed movements of all markers, and interpret information of multiple contact locations. The developed tactile muscularis can be integrated on the standard articulate robotic arm for enhancement of the robot's interaction with the surroundings under physical acting. This work is also expected to pave a way for the development of a friendly robot with proper tactile sensing for safe and comfortable interaction with humans.","PeriodicalId":207634,"journal":{"name":"2019 2nd IEEE International Conference on Soft Robotics (RoboSoft)","volume":"198 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":"121154726","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: 15

Development of Contact Area Variable Surface for Manipulation Requiring Sliding 需要滑动操作的接触面积可变曲面的开发

2019 2nd IEEE International Conference on Soft Robotics (RoboSoft) Pub Date : 2019-04-14 DOI: 10.1109/ROBOSOFT.2019.8722754

Seita Nojiri, Kaori Mizushima, Yosuke Suzuki, Tokuo Tsuji, Tetsuyou Watanabe

引用次数: 9

Dynamically Closed-Loop Controlled Soft Robotic Arm using a Reduced Order Finite Element Model with State Observer 基于状态观测器的降阶有限元动态闭环控制软机械臂

2019 2nd IEEE International Conference on Soft Robotics (RoboSoft) Pub Date : 2019-04-14 DOI: 10.1109/ROBOSOFT.2019.8722804

Robert K. Katzschmann, Maxime Thieffry, O. Goury, A. Kruszewski, T. Guerra, C. Duriez, D. Rus

{"title":"Dynamically Closed-Loop Controlled Soft Robotic Arm using a Reduced Order Finite Element Model with State Observer","authors":"Robert K. Katzschmann, Maxime Thieffry, O. Goury, A. Kruszewski, T. Guerra, C. Duriez, D. Rus","doi":"10.1109/ROBOSOFT.2019.8722804","DOIUrl":"https://doi.org/10.1109/ROBOSOFT.2019.8722804","url":null,"abstract":"This paper presents a computationally efficient method to model and simulate soft robots. Finite element methods enable us to simulate and control soft robots, but require us to work with a large dimensional system. This limits their use in real-time simulation and makes those methods less suitable for control design tools. Using model order reduction, it is possible to create a reduced order system for building controllers and observers. Model reduction errors are taken into account in the design of the low-order feedback, and it is then applied to the large dimensional, unreduced model. The control architecture is based on a linearized model of the robot and enables the control of the robot around this equilibrium point. To show the performance of this control method, pose-to-pose and trajectory tracking experiments are conducted on a pneumatically actuated soft arm. The soft arm has 12 independent interior cavities that can be pressurized and cause the arm to move in three dimensions. The arm is made of a rubber material and is casted through a lost-wax fabrication technique.","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":"114376420","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: 58

Gel-Based Soft Interfaces for Fastener Manipulation in Robotic Agile Assembly 机器人敏捷装配中基于凝胶的紧固件操作软接口

2019 2nd IEEE International Conference on Soft Robotics (RoboSoft) Pub Date : 2019-04-14 DOI: 10.1109/ROBOSOFT.2019.8722738

Kieran Gilday, Josie Hughes, F. Iida

引用次数: 0

Development of a Four-Bar Linkage Integrated with a Polypyrrole Actuator and a Resistive Sensor Toward Biomimetic Pleopods 基于多吡咯作动器和电阻传感器的四杆仿生机构的研制

2019 2nd IEEE International Conference on Soft Robotics (RoboSoft) Pub Date : 2019-04-14 DOI: 10.1109/ROBOSOFT.2019.8722770

Bokeon Kwak, J. Bae

{"title":"Development of a Four-Bar Linkage Integrated with a Polypyrrole Actuator and a Resistive Sensor Toward Biomimetic Pleopods","authors":"Bokeon Kwak, J. Bae","doi":"10.1109/ROBOSOFT.2019.8722770","DOIUrl":"https://doi.org/10.1109/ROBOSOFT.2019.8722770","url":null,"abstract":"Developing a highly integrated mesoscale (a few millimeter-centimeter) mechanism is dauntingly challenging work, and yet many technological improvements in soft robotics keep pushing the boundary. In this work, we proposed a new approach to develop a compliant mechanism integrated with a conductive polymer actuator and a resistive sensor. A polypyrrole (PPy) was utilized to fabricate a unimorph bending actuator through electropolymerization owing to its low operating voltage and high energy density. Also, carbon blacked filled polydimethylsiloxane (CPDMS) was directly contact printed on a flexural joint of a compliant mechanism to sense its motion. The performance of a PPy actuator and CPDMS sensor were individually investigated, which would be valuable at followup studies. In addition, inspired by pleopods (i.e. swimming legs) of aquatic arthropods, a CPDMS sensor integrated four-bar-linkage driven by a PPy actuator was developed for future applications in mesoscale swimming robots. After immersing in an electrolyte solution, the PPy actuator successfully drove the linkage structure with 5 V while the CPDMS sensor was able to partially sense the motion.","PeriodicalId":207634,"journal":{"name":"2019 2nd IEEE International Conference on Soft Robotics (RoboSoft)","volume":"28 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":"122680433","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

High Force Generation Using Inflatable Toroidal Soft Robot Actuators 利用充气环形软机器人执行器产生高力

2019 2nd IEEE International Conference on Soft Robotics (RoboSoft) Pub Date : 2019-04-14 DOI: 10.1109/ROBOSOFT.2019.8722782

Joshua Bishop-Moser

引用次数: 1

Development of a Sensorized Hybrid Gripper to Evaluate Grasping Quality 一种用于评价抓取质量的传感式混合抓取器的研制

2019 2nd IEEE International Conference on Soft Robotics (RoboSoft) Pub Date : 2019-04-14 DOI: 10.1109/ROBOSOFT.2019.8722753

Wookeun Park, Seongmin Lee, J. Bae

引用次数: 3