2023 IEEE International Conference on Soft Robotics (RoboSoft)最新文献_第6页

Design, Characterization, and Modeling of Barometric Tactile Sensors for Underwater Applications 水下应用气压触觉传感器的设计、表征和建模

2023 IEEE International Conference on Soft Robotics (RoboSoft) Pub Date : 2023-04-03 DOI: 10.1109/RoboSoft55895.2023.10121983

Aiden Shaevitz, M. Johnston, J. Davidson

{"title":"Design, Characterization, and Modeling of Barometric Tactile Sensors for Underwater Applications","authors":"Aiden Shaevitz, M. Johnston, J. Davidson","doi":"10.1109/RoboSoft55895.2023.10121983","DOIUrl":"https://doi.org/10.1109/RoboSoft55895.2023.10121983","url":null,"abstract":"In this paper we present the design and experimental characterization of a tactile sensor for underwater manipulation. Water turbidity in energetic underwater environments can degrade the performance of perception sensors, making the execution of already difficult manipulation tasks even more challenging. Tactile sensing can provide useful information in these environments. One popular type of tactile sensor for terrestrial applications uses barometric pressure sensors encased in a soft elastomer. However, the performance of these sensors in changing ambient pressures has not been investigated. We designed a custom testbed to characterize high-pressure MEMS barometers embedded in two types of silicone up to 50 PSIG ambient pressure. Using characterization results from a single barometer, we then designed two 2 × 4 tactile grids. Datasets of differential pressures (against a control sensor) for varying contact locations were used to train feedforward neural networks for point load estimation. Results show that for the grid encased in softer silicone, the model performance improved as the ambient pressure increased (average RMSE of 0.33 mm).","PeriodicalId":250981,"journal":{"name":"2023 IEEE International Conference on Soft Robotics (RoboSoft)","volume":"71 7 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2023-04-03","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"126131883","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: 0

Earthworm-inspired multimodal soft actuators 受蚯蚓启发的多模态软执行器

2023 IEEE International Conference on Soft Robotics (RoboSoft) Pub Date : 2023-04-03 DOI: 10.1109/RoboSoft55895.2023.10122032

Jonathan Tirado, Jonas Jørgensen, A. Rafsanjani

{"title":"Earthworm-inspired multimodal soft actuators","authors":"Jonathan Tirado, Jonas Jørgensen, A. Rafsanjani","doi":"10.1109/RoboSoft55895.2023.10122032","DOIUrl":"https://doi.org/10.1109/RoboSoft55895.2023.10122032","url":null,"abstract":"Earthworms can crawl on the ground and burrow through the soil through the sequential actuation of two types of muscles. The elongated soft body of an earthworm extends by contraction of circularly arranged external muscles and swells by contraction of longitudinally oriented muscles. Despite their slow movement, earthworms offer a rich model for developing next-generation limbless soft robots for many applications, including automated sensing of soil properties and microbiomes, gastrointestinal tract endoscopy, and sewer pipe inspection. Here, we take inspiration from the interwoven morphology of earthworms' musculature to create a multimodal soft actuator. We devised a prototyping technique for fabricating composite pneumatic actuators by coiling prestretched inflatable tubes around a cylindrical soft actuator at varying tension. We conducted comprehensive experiments and characterized the evolution of pressure and elongation of these multimodal actu-ators while inflating the inner and outer actuators in various sequential orders. Finally, we harnessed one of the identified actuation sequences to achieve in-pipe locomotion.","PeriodicalId":250981,"journal":{"name":"2023 IEEE International Conference on Soft Robotics (RoboSoft)","volume":"22 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2023-04-03","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"124747322","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: 0

Smell Driven Navigation for Soft Robotic Arms: Artificial Nose and Control 嗅觉驱动的软机械臂导航:人造鼻子和控制

2023 IEEE International Conference on Soft Robotics (RoboSoft) Pub Date : 2023-04-03 DOI: 10.1109/RoboSoft55895.2023.10122116

Francesco Piqué, F. Stella, Josie Hughes, E. Falotico, C. D. Santina

引用次数: 0

Plant-inspired behavior-based controller to enable reaching in redundant continuum robot arms 以植物为灵感的基于行为的控制器，使机器人手臂能够达到冗余连续体

2023 IEEE International Conference on Soft Robotics (RoboSoft) Pub Date : 2023-04-03 DOI: 10.1109/RoboSoft55895.2023.10122017

Enrico Donato, Y. Ansari, C. Laschi, E. Falotico

引用次数: 0

Collapse of Straight Soft Growing Inflated Beam Robots Under Their Own Weight 直软膨胀梁机器人在自身重量下的坍塌

2023 IEEE International Conference on Soft Robotics (RoboSoft) Pub Date : 2023-04-03 DOI: 10.1109/RoboSoft55895.2023.10122006

Ciera McFarland, Margaret M. Coad

{"title":"Collapse of Straight Soft Growing Inflated Beam Robots Under Their Own Weight","authors":"Ciera McFarland, Margaret M. Coad","doi":"10.1109/RoboSoft55895.2023.10122006","DOIUrl":"https://doi.org/10.1109/RoboSoft55895.2023.10122006","url":null,"abstract":"Soft, growing inflated beam robots, also known as everting vine robots, have previously been shown to navigate confined spaces with ease. Less is known about their ability to navigate three-dimensional open spaces where they have the potential to collapse under their own weight as they attempt to move through a space. Previous work has studied collapse of inflated beams and vine robots due to purely transverse or purely axial external loads. Here, we extend previous models to predict the length at which straight vine robots will collapse under their own weight at arbitrary launch angle relative to gravity, inflated diameter, and internal pressure. Our model successfully predicts the general trends of collapse behavior of straight vine robots. We find that collapse length increases nonlinearly with the robot's launch angle magnitude, linearly with the robot's diameter, and with the square root of the robot's internal pressure. We also demonstrate the use of our model to determine the robot parameters required to grow a vine robot across a gap in the floor. This work forms the foundation of an approach for modeling the collapse of vine robots and inflated beams in arbitrary shapes.","PeriodicalId":250981,"journal":{"name":"2023 IEEE International Conference on Soft Robotics (RoboSoft)","volume":"64 4 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2023-04-03","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"124096534","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: 0

Modular Sensor Integration into Soft Robots using Stretchable Wires for Nuclear Infrastructure Inspection and Radiation Spectroscopy 利用可拉伸导线将模块化传感器集成到软机器人中，用于核基础设施检测和辐射光谱学

2023 IEEE International Conference on Soft Robotics (RoboSoft) Pub Date : 2023-04-03 DOI: 10.1109/RoboSoft55895.2023.10121925

Calder Wilson, Joseph Karam, Callen Votzke, Farhan Rozaidi, Camille J. Palmer, R. Hatton, M. Johnston

{"title":"Modular Sensor Integration into Soft Robots using Stretchable Wires for Nuclear Infrastructure Inspection and Radiation Spectroscopy","authors":"Calder Wilson, Joseph Karam, Callen Votzke, Farhan Rozaidi, Camille J. Palmer, R. Hatton, M. Johnston","doi":"10.1109/RoboSoft55895.2023.10121925","DOIUrl":"https://doi.org/10.1109/RoboSoft55895.2023.10121925","url":null,"abstract":"Soft robots are uniquely suited for applications in inspection, search and rescue, and exploration in confined and unstructured environments. Leveraging the benefits of these soft robots will increasingly require the integration of equally compliant electronic components for sensing, actuation, control, and computation to maintain mechanical conformability at the system level. In this work, we demonstrate the integration of modular electronic sensors into a robotic snake platform using stretchable interconnects. Aimed at applications in nuclear infrastructure inspection, included sensors include visual perception and on-board radiation spectroscopy. In addition to high mechanical compliance, the stretchable interconnect enables physical separation of analog sensors and digital electronics for use in radiation environments. We present details of stretchable electronics fabrication and integration, standalone validation of integrated sensors, and field test results from a simulated nuclear infrastructure inspection task.","PeriodicalId":250981,"journal":{"name":"2023 IEEE International Conference on Soft Robotics (RoboSoft)","volume":"249 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2023-04-03","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"127866779","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: 0

Passive Suction Enhanced Adhesion Pads for Soft Grippers 被动吸力增强附着力软抓手垫

2023 IEEE International Conference on Soft Robotics (RoboSoft) Pub Date : 2023-04-03 DOI: 10.1109/RoboSoft55895.2023.10121931

A. Chooi, T. Calais, S. Dontu, S. Jain, A. C. Ugalde, G. Hiramandala, E. Kanhere, Truman Stalin, P. V. y Alvarado

{"title":"Passive Suction Enhanced Adhesion Pads for Soft Grippers","authors":"A. Chooi, T. Calais, S. Dontu, S. Jain, A. C. Ugalde, G. Hiramandala, E. Kanhere, Truman Stalin, P. V. y Alvarado","doi":"10.1109/RoboSoft55895.2023.10121931","DOIUrl":"https://doi.org/10.1109/RoboSoft55895.2023.10121931","url":null,"abstract":"The suction capabilities of octopuses' arms are an evolutionary marvel in surface adhesion that have long fascinated scientists and engineers in soft robotics. In this study, we report the design and the fabrication of a pad inspired by the suckers of the octopus O. vulgaris. The pad houses several pores connected to a vacuum system on one end and covered by a soft membrane on the other end. The membrane is used as an interface between the pad and payloads. Vacuum actuation strains the membrane resulting in a secondary passive vacuum space between the pad and a payload. Material composition and geometric parameters of the pad were first optimized using finite element analysis to maximize both conformability to rough surfaces and adhesion force. The optimized pad exhibited a 73% enhancement in adhesion force compared to a traditional pad, with the ability to adhere strongly to objects with smooth, rough, or wet surfaces, even with a small initial contact area. Finally, the pad was tested in a single joint soft finger mounted on a small gripper to showcase basic gripping capabilities on a wide range of objects.","PeriodicalId":250981,"journal":{"name":"2023 IEEE International Conference on Soft Robotics (RoboSoft)","volume":"6 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2023-04-03","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"121286269","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: 0

Biodegradable Humidity Actuators for Sustainable Soft Robotics using Deliquescent Hydrogels 使用潮解水凝胶的可持续软机器人的可生物降解湿度驱动器

2023 IEEE International Conference on Soft Robotics (RoboSoft) Pub Date : 2023-04-03 DOI: 10.1109/RoboSoft55895.2023.10122093

A. Keller, Qiukai Qi, Yogeenth Kumaresan, A. Conn, J. Rossiter

引用次数: 0

Hydraulic Modulation of Silicone Knuckles for Variable Control of Joint Stiffness 面向关节刚度可变控制的硅酮关节液压调制

2023 IEEE International Conference on Soft Robotics (RoboSoft) Pub Date : 2023-04-03 DOI: 10.1109/RoboSoft55895.2023.10121932

Satyam Bhawsinghka, Natasha Troxler, S. Walker, J. Davidson

引用次数: 0

Design and Validation of Tunable Stiffness Actuator using Soft-Rigid Combined Layer Jamming Mechanism 软硬复合层干扰机构可调刚度作动器的设计与验证

2023 IEEE International Conference on Soft Robotics (RoboSoft) Pub Date : 2023-04-03 DOI: 10.1109/RoboSoft55895.2023.10121975

Seoyeon Ham, B. B. Kang, K. Abishek, HyunYong Lee, Wansoo Kim

{"title":"Design and Validation of Tunable Stiffness Actuator using Soft-Rigid Combined Layer Jamming Mechanism","authors":"Seoyeon Ham, B. B. Kang, K. Abishek, HyunYong Lee, Wansoo Kim","doi":"10.1109/RoboSoft55895.2023.10121975","DOIUrl":"https://doi.org/10.1109/RoboSoft55895.2023.10121975","url":null,"abstract":"This paper presents a tunable stiffness actuator with a soft-rigid combined layer jamming mechanism. The tunable stiffness actuator is aimed to be integrated into an exosuit to prevent ankle sprain and avoid or mitigate the development of chronic ankle instability. The main purpose of the soft-rigid layer jamming mechanism is to produce large stiffness with a small volume and achieve a linear stiffness characteristic. To this end, the actuator is designed to include rigid retainer pieces within the soft silicone layers, and each soft-rigid layer is jammed to induce stiffness changes. To validate the stiffness characteristics of the proposed soft-rigid actuator, a series of experiments were performed and stiffness changes were investigated for varying jamming states from unjammed to fully jammed states. Increasing the number of jamming layer effectively increased the actuator stiffness, which was consistent with expected results from the analytical model. Soft-rigid actuator's stiffness at the fully jammed state was 212.1% and 123.1% higher than the unjammed state for one-side and both sides anchored conditions, respectively. Compared to the soft actuator without the rigid retainer, the soft-rigid actuator exhibited a more linear characteristic (Pearson correlation coefficient = 0.990 and 0.997 for one-side and both sides anchored conditions, respectively). Moreover, the soft-rigid actuator achieved significantly higher stiffness than the soft actuator in all jamming states (at least 41.3% increase in each jamming state). The results suggest a potential use of the tunable stiffness actuator to develop a soft ankle exosuit with highly variable but linear stiffness characteristics.","PeriodicalId":250981,"journal":{"name":"2023 IEEE International Conference on Soft Robotics (RoboSoft)","volume":"4 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2023-04-03","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"130832204","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: 0