2018 IEEE International Conference on Soft Robotics (RoboSoft)最新文献_第2页

Electroactive textile actuators for wearable and soft robots 可穿戴机器人和软机器人用电活性纺织致动器

2018 IEEE International Conference on Soft Robotics (RoboSoft) Pub Date : 2018-04-24 DOI: 10.1109/ROBOSOFT.2018.8404942

Jianglong Guo, Chaoqun Xiang, T. Helps, M. Taghavi, J. Rossiter

引用次数: 27

Parameter estimation and modeling of a pneumatic continuum manipulator with asymmetric building blocks 非对称构件气动连续机械臂的参数估计与建模

2018 IEEE International Conference on Soft Robotics (RoboSoft) Pub Date : 2018-04-24 DOI: 10.1109/ROBOSOFT.2018.8405380

N. Uppalapati, Gaurav Singh, Girish Krishnan

{"title":"Parameter estimation and modeling of a pneumatic continuum manipulator with asymmetric building blocks","authors":"N. Uppalapati, Gaurav Singh, Girish Krishnan","doi":"10.1109/ROBOSOFT.2018.8405380","DOIUrl":"https://doi.org/10.1109/ROBOSOFT.2018.8405380","url":null,"abstract":"Soft Continuum manipulators are increasingly popular because of their ability to interact safely with humans, maneuver around obstacles and enable cost-effective operation. In this paper, we investigate a unique manipulator composed of two asymmetric fiber reinforced pneumatic building blocks, one capable of bending and the other axially rotating. The combination of these building blocks can yield spatial motion including helical deformation pattern. While this design architecture is beneficial for whole arm manipulation and grasping, the asymmetric combination introduces structural coupling between the two modes rendering an analytical model hard to formulate. In this paper, we propose a Cosserat rod model to capture the deformation of the manipulator whose material properties and actuation parameters are estimated through extensive experiments. Once the model parameters are determined, the Cosserat model can be used to estimate deformation profile even in the presence of external loads. Such a framework is general and can be applied to obtain the forward and inverse kinematics of any continuum manipulator.","PeriodicalId":306255,"journal":{"name":"2018 IEEE International Conference on Soft Robotics (RoboSoft)","volume":"15 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2018-04-24","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"121942951","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

Helical actuation on a soft inflated robot body 软充气机器人机体的螺旋驱动

2018 IEEE International Conference on Soft Robotics (RoboSoft) Pub Date : 2018-04-24 DOI: 10.1109/ROBOSOFT.2018.8404927

Laura H. Blumenschein, Nathan S. Usevitch, Brian H. Do, E. Hawkes, A. Okamura

引用次数: 31

Thin soft layered actuator based on a novel fabrication technique 基于新型制造技术的薄型软层致动器

2018 IEEE International Conference on Soft Robotics (RoboSoft) Pub Date : 2018-04-24 DOI: 10.1109/ROBOSOFT.2018.8404916

J. Kow, P. Culmer, A. Alazmani

引用次数: 2

A flexible sensor for soft-bodied robots based on electrical impedance tomography 基于电阻抗层析成像的软体机器人柔性传感器

2018 IEEE International Conference on Soft Robotics (RoboSoft) Pub Date : 2018-04-24 DOI: 10.1109/ROBOSOFT.2018.8404913

F. Visentin, P. Fiorini

引用次数: 6

Multi-fingered robotic hand based on hybrid mechanism of tendon-driven and jamming transition 基于肌腱驱动与干扰过渡混合机构的多指机械手

2018 IEEE International Conference on Soft Robotics (RoboSoft) Pub Date : 2018-04-24 DOI: 10.1109/ROBOSOFT.2018.8404948

Kaori Mizushima, Takumi Oku, Yosuke Suzuki, Tokuo Tsuji, Tetsuyou Watanabe

引用次数: 33

High strength bubble artificial muscles for walking assistance 高强度气泡人造肌肉，辅助行走

2018 IEEE International Conference on Soft Robotics (RoboSoft) Pub Date : 2018-04-24 DOI: 10.1109/ROBOSOFT.2018.8404950

R. S. Diteesawat, T. Helps, M. Taghavi, J. Rossiter

{"title":"High strength bubble artificial muscles for walking assistance","authors":"R. S. Diteesawat, T. Helps, M. Taghavi, J. Rossiter","doi":"10.1109/ROBOSOFT.2018.8404950","DOIUrl":"https://doi.org/10.1109/ROBOSOFT.2018.8404950","url":null,"abstract":"We present a high strength artificial muscle for inclusion in an orthotic device that can deliver power at the knee joint with the aim of improving knee flexion in people with reduced mobility. The bubble artificial muscle (BAM) was developed by adapting traditional pleated pneumatic artificial muscles to achieve high contraction and tensile force. Initial gravimetric evaluation of a single BAM was performed, achieving a contraction of 23.7% while lifting a mass of 2.5 kg (over 100 times the mass of the actuator). To demonstrate the actuator's suitability for an orthosis, a device consisting of three parallel BAMs was tested with a physical pendular leg model based upon a human leg. A maximum knee flexion of 47.25 degrees was achieved, about 70% of the peak knee flexion of the average of young healthy subjects (68 degrees). 8.19 Nm of torque was delivered during testing, which is approximately 33% of the knee flexion moment during swing phase of a gait cycle. This high moment is achieved despite the low mass of the device (206.6 g). This work shows the suitability of BAMs for wearable orthotic devices such as soft assistive suits, where softness, lightness and high stress and strain are essential.","PeriodicalId":306255,"journal":{"name":"2018 IEEE International Conference on Soft Robotics (RoboSoft)","volume":"60 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2018-04-24","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"126710745","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: 14

Soft skin texture modulation for social robotics 用于社交机器人的柔软皮肤纹理调制

2018 IEEE International Conference on Soft Robotics (RoboSoft) Pub Date : 2018-04-24 DOI: 10.1109/ROBOSOFT.2018.8404917

Yuhan Hu, Zhengnan Zhao, A. Vimal, Guy Hoffman

引用次数: 26

AirExGlove — A novel pneumatic exoskeleton glove for adaptive hand rehabilitation in post-stroke patients airxglove -一种新型气动外骨骼手套，用于中风后患者的适应性手部康复

2018 IEEE International Conference on Soft Robotics (RoboSoft) Pub Date : 2018-04-24 DOI: 10.1109/ROBOSOFT.2018.8405388

A. Stilli, Arianna Cremoni, M. Bianchi, A. Ridolfi, Filippo Gerii, F. Vannetti, H. Wurdemann, B. Allotta, K. Althoefer

{"title":"AirExGlove — A novel pneumatic exoskeleton glove for adaptive hand rehabilitation in post-stroke patients","authors":"A. Stilli, Arianna Cremoni, M. Bianchi, A. Ridolfi, Filippo Gerii, F. Vannetti, H. Wurdemann, B. Allotta, K. Althoefer","doi":"10.1109/ROBOSOFT.2018.8405388","DOIUrl":"https://doi.org/10.1109/ROBOSOFT.2018.8405388","url":null,"abstract":"Stroke is one of the leading causes of disability worldwide: post-stroke disabilities affect the upper and lower limbs, significantly undermining a subject's autonomy in the Activities of Daily Living (ADLs). Among post-stroke disabilities, one of the most impairing and widespread conditions is the clenched fist deformity: the subject experiences a permanent contraction of the hand, resulting in a closed hand rest pose. In this paper, the authors propose a novel light-weight inflatable soft exoskeleton device, called the AirExGlove, to deliver high-dosage, adaptive and gradual rehabilitation therapy to patients affected by clenched fist deformity. Our system is lightweight, low-cost, adaptable to any hand size and unobtrusive. The system has been extensively tested to assess the hand-opening range in which it can operate according to the severity of the patient condition, which is typically ranked on the Modified Ashworth Scale (MAS) scale. Experimental analysis demonstrates the suitability of the glove for patients affected by post-stroke muscle spasticity scoring up to 3 out of 4 in the MAS scale. Preliminary testing with clenched-fist patient confirmed a higher level of ergonomics of the system in comparison with rigid-linked robotic systems.","PeriodicalId":306255,"journal":{"name":"2018 IEEE International Conference on Soft Robotics (RoboSoft)","volume":"29 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2018-04-24","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"133473773","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: 44

Variable stiffness strip with strain sensing for wearable robotics 可穿戴机器人应变传感变刚度条带

2018 IEEE International Conference on Soft Robotics (RoboSoft) Pub Date : 2018-04-24 DOI: 10.1109/ROBOSOFT.2018.8405373

A. Tonazzini, J. Shintake, Carine Rognon, V. Ramachandran, S. Mintchev, D. Floreano

引用次数: 13