2018 IEEE International Conference on Soft Robotics (RoboSoft)最新文献_第5页

Development and experimental assessment of a flexible robot fin 柔性机器人鳍的研制与实验评价

2018 IEEE International Conference on Soft Robotics (RoboSoft) Pub Date : 2018-04-24 DOI: 10.1109/ROBOSOFT.2018.8404921

Roza Gliva, M. Sfakiotakis, M. Kruusmaa

{"title":"Development and experimental assessment of a flexible robot fin","authors":"Roza Gliva, M. Sfakiotakis, M. Kruusmaa","doi":"10.1109/ROBOSOFT.2018.8404921","DOIUrl":"https://doi.org/10.1109/ROBOSOFT.2018.8404921","url":null,"abstract":"Energy efficiency and motion precision are particularly important for unmanned underwater vehicles (UUVs) undertaking complex missions. To achieve these objectives, researchers consider different materials when designing UUVs. In this work, we present the development and experimental assessment of a bio-inspired flexible actuator, based on the fins used in the Autonomous Underwater Vehicle U-CAT. The novel aspect of the new fin design is that it allows manipulation of the magnitude and direction of the generated thrust vector, by increasing the flexural resistance along its front edge through a rigid insert. The potential for using the fin as a U-CAT actuator is assessed through the comparison of results from parametric studies inside a water tank, run for both the here-proposed and the original design. The results indicate that the modified fin can generate an increased overall force, with a relatively small increase in power consumption. More interestingly, the overall direction of the thrust vector is better aligned with the robot's surge axis, at the expense of reducing the sway motion capability. Overall, the new design holds considerable potential for enhancing the propulsive performance of fin-actuated underwater vehicles, while representing a simple and robust implementation of undulating flexible propulsors.","PeriodicalId":306255,"journal":{"name":"2018 IEEE International Conference on Soft Robotics (RoboSoft)","volume":"22 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":"124029803","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: 3

An inverse kinematics method of a soft robotic arm with three-dimensional locomotion for underwater manipulation 水下操作三维运动柔性机械臂的运动学逆解方法

2018 IEEE International Conference on Soft Robotics (RoboSoft) Pub Date : 2018-04-24 DOI: 10.1109/ROBOSOFT.2018.8405378

Zheyuan Gong, Jiahui Cheng, Kainan Hu, Tianmiao Wang, Li Wen

{"title":"An inverse kinematics method of a soft robotic arm with three-dimensional locomotion for underwater manipulation","authors":"Zheyuan Gong, Jiahui Cheng, Kainan Hu, Tianmiao Wang, Li Wen","doi":"10.1109/ROBOSOFT.2018.8405378","DOIUrl":"https://doi.org/10.1109/ROBOSOFT.2018.8405378","url":null,"abstract":"Soft robots have several promising features for underwater manipulation, e.g., safe interaction with surroundings, lightweight, low inertia, etc. In this paper, we proposed a method for the inverse kinematics of the soft manipulator that can move in the three-dimensional space. By controlling the two bending segments to move with opposing curvatures and one elongation segment to move up and down, our method enabled the real-time solution of the inverse kinematics and allowed the tip of the manipulator executing point-point movements in three dimensions. We performed the trajectory planning ability of the soft manipulator following the straight line and circle paths. Furthermore, we investigated the hydrodynamic functions of the soft manipulator underwater including forces, and the wake flows when the soft arm stroked at different amplitudes and frequencies. We found that the hydrodynamic force (<1N) and the torques (<0.1Nm) were quite small during locomotion — which led to a negligible inertial impact on the underwater vehicle compared to the traditional rigid underwater manipulator. Finally, we demonstrated that the soft manipulator successfully picked and placed sea animals at 10m depth.","PeriodicalId":306255,"journal":{"name":"2018 IEEE International Conference on Soft Robotics (RoboSoft)","volume":"100 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":"124118638","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

U-turning an agile robotic cube by a soft dielectric elastomer resonator 用软介电弹性体谐振器实现敏捷机器人立方体的u型转弯

2018 IEEE International Conference on Soft Robotics (RoboSoft) Pub Date : 2018-04-24 DOI: 10.1109/ROBOSOFT.2018.8404941

Chao Tang, B. Li, Hualing Chen

引用次数: 3

Touch and see: Physical interactions stimulating patterns in artificial cephalopod skin 触摸和观看:人工头足类动物皮肤的物理相互作用刺激模式

2018 IEEE International Conference on Soft Robotics (RoboSoft) Pub Date : 2018-04-24 DOI: 10.1109/ROBOSOFT.2018.8404888

Aaron Fishman, Sal Catsis, M. Homer, J. Rossiter

引用次数: 2

Soft wearable non-vibratory tactile displays 柔软可穿戴的无振动触觉显示器

2018 IEEE International Conference on Soft Robotics (RoboSoft) Pub Date : 2018-04-24 DOI: 10.1109/ROBOSOFT.2018.8404931

Hugh Boys, G. Frediani, Michele Ghilardi, S. Poslad, James J. C. Busfield, F. Carpi

引用次数: 14

3D printed resistive soft sensors 3D打印电阻式软传感器

2018 IEEE International Conference on Soft Robotics (RoboSoft) Pub Date : 2018-04-24 DOI: 10.1109/ROBOSOFT.2018.8404912

Benjamin Shih, J. Mayeda, Z. Huo, C. Christianson, M. Tolley

{"title":"3D printed resistive soft sensors","authors":"Benjamin Shih, J. Mayeda, Z. Huo, C. Christianson, M. Tolley","doi":"10.1109/ROBOSOFT.2018.8404912","DOIUrl":"https://doi.org/10.1109/ROBOSOFT.2018.8404912","url":null,"abstract":"Sensor design for soft robots is a challenging problem because of the wide range of design parameters (e.g. geometry, material, actuation type, etc.) critical to their function. While conventional rigid sensors are effective for soft robotics in specific situations, sensors that are directly integrated into the bodies of soft robots could help improve both their exteroception and interoception capabilities. To address this challenge, we seek to design sensors that can be co-fabricated with soft robot bodies using commercial 3D printers, without additional modification. We describe an approach to the design and fabrication of compliant, resistive soft sensors, and present characterizations for linear, planar, and 3D sensors. The sensors consist of layers of nonconductive and conductive commercial photopolymers that the printer cures with UV light. We demonstrate the capabilities of our method by printing linear and multilayer soft sensors, and by embedding non-planar heart- and brain-shaped sensors within a humanoid shape, which enables the humanoid to detect contact with its environment. Please see the video for additional details.","PeriodicalId":306255,"journal":{"name":"2018 IEEE International Conference on Soft Robotics (RoboSoft)","volume":"19 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":"124091638","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

A variable shape and variable stiffness controller for haptic virtual interactions 一种用于触觉虚拟交互的变形状变刚度控制器

2018 IEEE International Conference on Soft Robotics (RoboSoft) Pub Date : 2018-04-24 DOI: 10.1109/ROBOSOFT.2018.8404930

B. M. Murray, Bryan N. Peele, Patricia A. Xu, J. Spjut, Omer Shapira, D. Luebke, R. Shepherd

引用次数: 16

Novel feedforward controller for straight-fiber-type artificial muscle based on an experimental identification model 基于实验辨识模型的直纤维型人工肌肉前馈控制器

2018 IEEE International Conference on Soft Robotics (RoboSoft) Pub Date : 2018-04-24 DOI: 10.1109/ROBOSOFT.2018.8404893

Ryuji Suzuki, M. Okui, S. Iikawa, Yasuyuki Yamada, Taro Nakamura

{"title":"Novel feedforward controller for straight-fiber-type artificial muscle based on an experimental identification model","authors":"Ryuji Suzuki, M. Okui, S. Iikawa, Yasuyuki Yamada, Taro Nakamura","doi":"10.1109/ROBOSOFT.2018.8404893","DOIUrl":"https://doi.org/10.1109/ROBOSOFT.2018.8404893","url":null,"abstract":"This paper reports on an improvement to a feedforward controller for a straight-fiber-type artificial muscle that can control the amount of contraction, stiffness, and contraction force by use of an experimental identification model. This straight-fiber-type artificial muscle has a higher contraction force and a higher contraction rate than a McKibben artificial muscle. In a previous study, we developed a feedforward controller for a straight-fiber-type artificial muscle based on a mechanical model. However, this controller could not accurately control the stiffness or the contraction force. A feedback controller was necessary to compensate for the lack of feedforward control accuracy, which increased the system complexity. In addition, the calculations of the previous controller were so complex that the microcontroller could not keep up with the sequential calculations. This is not practical when the controller is used in devices such as an assist suit. In this paper, to solve these problems, we propose a novel feedforward controller based on an experimental identification model whose calculations are simpler than the previous ones. An experimental identification model enables the feedforward controller to improve the accuracy by identifying the parameters used in the model. Also, we compare the accuracy of the proposed controller with the previous one.","PeriodicalId":306255,"journal":{"name":"2018 IEEE International Conference on Soft Robotics (RoboSoft)","volume":"413 28","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2018-04-24","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"120930381","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

Force sensing fingertip with soft optical waveguides for robotic hands and grippers 力传感指尖与软光波导机械手和抓手

2018 IEEE International Conference on Soft Robotics (RoboSoft) Pub Date : 2018-04-24 DOI: 10.1109/ROBOSOFT.2018.8404911

Babar Jamil, Jaehyun Kim, Youngjin Choi

引用次数: 4

Fishbone-inspired soft robotic glove for hand rehabilitation with multi-degrees-of-freedom 受鱼骨启发的多自由度手部康复软体机器人手套

2018 IEEE International Conference on Soft Robotics (RoboSoft) Pub Date : 2018-04-24 DOI: 10.1109/ROBOSOFT.2018.8404951

Yongkang Jiang, Diansheng Chen, Pengyong Liu, Xiaofang Jiao, Zilong Ping, Zi-Hao Xu, Jian Li, Ying Xu

{"title":"Fishbone-inspired soft robotic glove for hand rehabilitation with multi-degrees-of-freedom","authors":"Yongkang Jiang, Diansheng Chen, Pengyong Liu, Xiaofang Jiao, Zilong Ping, Zi-Hao Xu, Jian Li, Ying Xu","doi":"10.1109/ROBOSOFT.2018.8404951","DOIUrl":"https://doi.org/10.1109/ROBOSOFT.2018.8404951","url":null,"abstract":"Soft robotic gloves have shown great potential in accelerating the rehabilitation process of individuals with hand pathologies. However, most of the existing soft assistive devices allow a single degree-of-freedom (DoF) movement for each finger while independent motion of finger joints plays a crucial role in hand rehabilitation. Trying to address these challenges, a novel fishbone-inspired soft actuator with multi-DoFs is proposed in this article for the first time, to the best knowledge of the authors, and a preliminary soft glove is developed. With the assistance of the glove, the Metacarpophalangeal (MCP) and the proximal interphalangeal (PIP) joints of human fingers can bend or extend independently. In this paper, the basic concept of the actuators is illustrated in detail and the structural parameters are determined with FEM models. Additionally, several groups of experiments are conducted to demonstrate the varied motion patterns of the actuators and the bending curvature of each segment in different patterns is calculated. Lastly, the efficacy as well as the dexterity of the proposed soft glove is further validated by performing complicated gestures and conducting functional grasping tests.","PeriodicalId":306255,"journal":{"name":"2018 IEEE International Conference on Soft Robotics (RoboSoft)","volume":"7 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":"132666879","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