2018 IEEE International Conference on Soft Robotics (RoboSoft)最新文献_第4页

Design of a bi-segmented soft actuator with hardware encoded quasi-static inflation sequence 基于硬件编码的准静态膨胀序列的双分段软执行器设计

2018 IEEE International Conference on Soft Robotics (RoboSoft) Pub Date : 2018-04-24 DOI: 10.1109/ROBOSOFT.2018.8404905

E. Milana, B. Gorissen, Michaël De Voider, D. Reynaerts

引用次数: 5

Modeling vacuum bellows soft pneumatic actuators with optimal mechanical performance 具有最佳机械性能的真空波纹管软气动执行器建模

2018 IEEE International Conference on Soft Robotics (RoboSoft) Pub Date : 2018-04-24 DOI: 10.1109/ROBOSOFT.2018.8405381

Wyatt Felt, Matthew A. Robertson, J. Paik

{"title":"Modeling vacuum bellows soft pneumatic actuators with optimal mechanical performance","authors":"Wyatt Felt, Matthew A. Robertson, J. Paik","doi":"10.1109/ROBOSOFT.2018.8405381","DOIUrl":"https://doi.org/10.1109/ROBOSOFT.2018.8405381","url":null,"abstract":"This paper presents the concept and model of “Vacuum Bellows,” a cylindrical membrane-reinforced contractile vacuum soft pneumatic actuator (V-SPAs). These actuators consist of a tubular membrane connected to a series of interior rigid rings periodically spaced along its length. Our model shows how the rings can be spaced to achieve a desired actuator force profile. For example, the contraction ratio can be maximized by spacing the rings one diameter apart inside the tube. The work output of the actuator can be concentrated in the initial portion of the stroke by increasing the ring spacing. And, usefully, an approximately constant force-to-pressure relationship can be created by spacing the rings a fraction of a diameter apart. Our experimental results highlight the utility of the model and some practical considerations for actuator fabrication and use. The experimental results demonstrate how the ring spacing can be used to achieve high peak forces per unit pressure (three times greater than an equivalent-diameter piston achieved experimentally) or large contractions (achieved contraction to 30 % of the extended length). Our model suggests that this performance can be improved with improved fabrication techniques.","PeriodicalId":306255,"journal":{"name":"2018 IEEE International Conference on Soft Robotics (RoboSoft)","volume":"25 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":"115186270","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: 26

Water pipe robot utilizing soft inflatable actuators 利用软充气作动器的水管机器人

2018 IEEE International Conference on Soft Robotics (RoboSoft) Pub Date : 2018-04-24 DOI: 10.1109/ROBOSOFT.2018.8404939

Wade Adams, Saivimal Sridar, Carly M. Thalman, Bryce Copenhaver, Hassan Elsaad, Panagiotis Polygerinos

{"title":"Water pipe robot utilizing soft inflatable actuators","authors":"Wade Adams, Saivimal Sridar, Carly M. Thalman, Bryce Copenhaver, Hassan Elsaad, Panagiotis Polygerinos","doi":"10.1109/ROBOSOFT.2018.8404939","DOIUrl":"https://doi.org/10.1109/ROBOSOFT.2018.8404939","url":null,"abstract":"This paper presents the design and testing of a soft robot for water utility pipeline inspection. The preliminary findings of this new approach to conventional methods of pipe inspection demonstrate that a soft inflatable robot can successfully traverse the interior space of a range of diameter pipes without the need of adjusting mechanical components. The robot utilizes inflatable soft actuators with adjustable radius which, when pressurized, can mobilize the robot inside the pipe, or anchor it in place. Utilizing a control algorithm for locomotion allows the robot to maneuver through a pipe mimicking the motion of an inchworm. This paper offers an evaluation of the structure and behavior of the inflatable actuators through computational modeling of the material and design, as well as the experimental data of the forces and displacements generated by the actuators. The theoretical results are contrasted to experimental data utilizing a physical prototype of the soft robot. The unique design is anticipated to enable compliant robots to conform to the space offered to them and overcome any occlusions from accumulated solids found in pipes.","PeriodicalId":306255,"journal":{"name":"2018 IEEE International Conference on Soft Robotics (RoboSoft)","volume":"43 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":"114381180","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: 20

A 4 DOFs variable stiffness soft module 4自由度变刚度软模块

2018 IEEE International Conference on Soft Robotics (RoboSoft) Pub Date : 2018-04-24 DOI: 10.1109/ROBOSOFT.2018.8404903

L. Manfredi, Lei Yue, Jiajia Zhang, A. Cuschieri

{"title":"A 4 DOFs variable stiffness soft module","authors":"L. Manfredi, Lei Yue, Jiajia Zhang, A. Cuschieri","doi":"10.1109/ROBOSOFT.2018.8404903","DOIUrl":"https://doi.org/10.1109/ROBOSOFT.2018.8404903","url":null,"abstract":"The new generation of bio-inspired robots is constructed from soft materials. The low mechanical stiffness of the material enables continuous deformation by the robot, which can thus negotiate narrow and tortuous spaces. Additionally, soft robots are intrinsically atraumatic, with safe interaction with the surrounding environment without the need of an active compliant control. Several research centres are exploring solutions to vary the stiffness of the component material through use of either on-off or continuous mechanisms. The latter can be implemented by using a combination of pneumatic chambers and tendons to vary the air pressure, in a single compact design. To enhance the robot dexterity required to perform complex tasks, each module of the soft robot needs to exhibit several degrees of freedom (DOFs). In the present study, we describe a novel soft pneumatic cylindrical module made of fibre-reinforced polymer, that uses 2 pair disposed antagonistic tendons for variable stiffness control and capable of 4 DOFs. By tensioning twin pairs of antagonistic tendons, the module can rotate around X, Y and Z axes, and by inflating air in the 2 chambers, it can extend along Z but also rotate around the X axis. The wide cross-sectional area of the chamber reduces the maximal actuating internal air pressure. We report the design and construction of the soft module, and experimental data on the range of motion, forces generated, and the range of stiffness.","PeriodicalId":306255,"journal":{"name":"2018 IEEE International Conference on Soft Robotics (RoboSoft)","volume":"1 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":"124738378","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

A soft robotic exo-sheath using fabric EMG sensing for hand rehabilitation and assistance 一种柔软的机器人外护套，使用织物肌电感应进行手部康复和辅助

2018 IEEE International Conference on Soft Robotics (RoboSoft) Pub Date : 2018-04-24 DOI: 10.1109/ROBOSOFT.2018.8405375

Jiaqi Guo, Shuangyue Yu, Yanjun Li, T. Huang, Junlin Wang, Brian Lynn, Jeremy Fidock, Chien-Lung Shen, D. Edwards, Hao Su

{"title":"A soft robotic exo-sheath using fabric EMG sensing for hand rehabilitation and assistance","authors":"Jiaqi Guo, Shuangyue Yu, Yanjun Li, T. Huang, Junlin Wang, Brian Lynn, Jeremy Fidock, Chien-Lung Shen, D. Edwards, Hao Su","doi":"10.1109/ROBOSOFT.2018.8405375","DOIUrl":"https://doi.org/10.1109/ROBOSOFT.2018.8405375","url":null,"abstract":"This paper presents the design and evaluation of a soft hand exo-sheath integrated with a soft fabric electromyography (EMG) sensor for rehabilitation and activities of daily living (ADL) assistance of stroke and spinal cord injury (SCI) patients. This wearable robot addresses the limitations of the soft robot gloves with design considerations in terms of ergonomics and clinical practice. Its features include: this exo-sheath is based on electric actuation and has been designed to be compact and portable. It reduces the shear force and avoids kinematic singularity comparing with tendon-driven soft gloves as their tendon routings are typically in parallel with individual fingers. Disparate from conventional robotic gloves, this design optimizes a bio-inspired fin-ray structure to enhance the hand proprioception as the palm is not covered by wearable structures. With a novel self-fastening finger clasp design, wearers can self-don/doff the exoskeleton device simplifying ADL assistance. To develop more intuitive control interface, a soft fabric EMG sensor has been developed to understand human intentions. The functionality of this soft robot has been demonstrated with experimental results using the low-level position control, kinematics evaluation and reliable EMG measurements.","PeriodicalId":306255,"journal":{"name":"2018 IEEE International Conference on Soft Robotics (RoboSoft)","volume":"5 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":"123710872","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

State and stiffness estimation using robotic fabrics 基于机器人织物的状态和刚度估计

2018 IEEE International Conference on Soft Robotics (RoboSoft) Pub Date : 2018-04-24 DOI: 10.1109/ROBOSOFT.2018.8405379

Jennifer C. Case, Joran W. Booth, Dylan S. Shah, Michelle C. Yuen, Rebecca Kramer‐Bottiglio

引用次数: 13

A circular pneumatic muscle actuator (CPMA) inspired by human skeletal muscles 一种圆形气动肌肉执行器(CPMA)，灵感来自人体骨骼肌

2018 IEEE International Conference on Soft Robotics (RoboSoft) Pub Date : 2018-04-24 DOI: 10.1109/ROBOSOFT.2018.8404889

A. Al-Ibadi, S. Nefti-Meziani, S. Davis

引用次数: 3

Mechanical assembly of soft deployable structures and robots 软可展开结构与机器人的机械装配

2018 IEEE International Conference on Soft Robotics (RoboSoft) Pub Date : 2018-04-24 DOI: 10.1109/ROBOSOFT.2018.8404923

Wei Wang, Sung-hoon Ahn

{"title":"Mechanical assembly of soft deployable structures and robots","authors":"Wei Wang, Sung-hoon Ahn","doi":"10.1109/ROBOSOFT.2018.8404923","DOIUrl":"https://doi.org/10.1109/ROBOSOFT.2018.8404923","url":null,"abstract":"This work describes the approaches of fabricating soft deployable structures using smart materials based soft hinge actuators combining a soft matrix and hinge-like movement through a rigid framework. The soft hinge actuator has the advantage of being simple to fabricate, inexpensive, lightweight and simple to actuate. This primary actuator can then be used to form modules capable of deployable deformation, which can then be assembled into deployable structures. The design of soft deployable structures is based on three principles: design of primary hinge actuators, assembly of modules and assembly of modules into large-scale deployable structures. This work describes both the non-dismountable and the dismountable modular assembling methods for constructing the deployable structures. The non-dismountable assembly is constructed by assembling the modules using 3D printed mechanical joints. Meanwhile, the dismountable assembly is constructed using identical soft deployable modules with embedded magnetic elements as the dismountable connectors. Then, by assembling identical soft deploy modules in different manners, different types of soft deployable structures can be easily and fast built and tested by re-utilizing the modules. The proposed approaches highlight the robust strategies for the rapid and simple prototyping of various complex soft deployable structures and robots.","PeriodicalId":306255,"journal":{"name":"2018 IEEE International Conference on Soft Robotics (RoboSoft)","volume":"396 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":"123539823","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

An any-resolution pressure localization scheme using a soft capacitive sensor skin 一种使用软电容式传感器表皮的任意分辨率压力定位方案

2018 IEEE International Conference on Soft Robotics (RoboSoft) Pub Date : 2018-04-24 DOI: 10.1109/ROBOSOFT.2018.8404915

H. Sonar, Michelle C. Yuen, Rebecca Kramer‐Bottiglio, J. Paik

{"title":"An any-resolution pressure localization scheme using a soft capacitive sensor skin","authors":"H. Sonar, Michelle C. Yuen, Rebecca Kramer‐Bottiglio, J. Paik","doi":"10.1109/ROBOSOFT.2018.8404915","DOIUrl":"https://doi.org/10.1109/ROBOSOFT.2018.8404915","url":null,"abstract":"We present a method to determine the location of an applied pressure on a large-area, monolithic, silicone-based capacitive sensor. In contrast to pressure sensor arrays composed of n × n discrete sensors, we utilize a single sensor body with a single instrumentation interface to detect n pixels. We interrogate the capacitive sensor at different frequencies, thus modulating the effective length of the sensor. These interrogation frequencies are governed by the sensor's total capacitance and resistance, and the desired spatial resolution. We developed an analytical model to calculate the frequency response at different length segments of the sensor and used the results to determine the interrogation frequencies for experimental studies. We performed experimental tests on a 1 × n sensor strip and an n × n sensor sheet and showed greater than 90% accuracy in predicting the location of the applied pressure using a model generated by a multi-class kernel support vector machine. This approach towards distributed localization of point pressures greatly reduces the hardware complexity in comparison to discrete sensor arrays and increases the physical robustness of the system.","PeriodicalId":306255,"journal":{"name":"2018 IEEE International Conference on Soft Robotics (RoboSoft)","volume":"64 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":"126290688","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: 13

Compliant electric actuators based on handed shearing auxetics 基于手动剪切辅助装置的柔性电动执行器

2018 IEEE International Conference on Soft Robotics (RoboSoft) Pub Date : 2018-04-24 DOI: 10.1109/ROBOSOFT.2018.8404904

Lillian Chin, J. Lipton, R. MacCurdy, John Romanishin, Chetan Sharma, D. Rus

引用次数: 21