2018 IEEE International Conference on Soft Robotics (RoboSoft)最新文献_第8页

Shape estimation based on Kalman filtering: Towards fully soft proprioception 基于卡尔曼滤波的形状估计:迈向完全软本体感觉

2018 IEEE International Conference on Soft Robotics (RoboSoft) Pub Date : 2018-04-24 DOI: 10.1109/ROBOSOFT.2018.8405382

Dario Lunni, Goffredo Giordano, E. Sinibaldi, M. Cianchetti, B. Mazzolai

引用次数: 19

Multi-directional crawling robot with soft actuators and electroadhesive grippers 带有软驱动器和电粘爪的多向爬行机器人

2018 IEEE International Conference on Soft Robotics (RoboSoft) Pub Date : 2018-04-24 DOI: 10.1109/ROBOSOFT.2018.8404936

K. M. Digumarti, C. Cao, Jianglong Guo, A. Conn, J. Rossiter

引用次数: 22

Prolonging the lifetime of straight-fiber-type pneumatic rubber artificial muscle by shape consideration and material development 从形状的考虑和材料的开发延长直纤维型气动橡胶人工肌肉的使用寿命

2018 IEEE International Conference on Soft Robotics (RoboSoft) Pub Date : 2018-04-24 DOI: 10.1109/ROBOSOFT.2018.8404918

A. Kojima, M. Okui, Yasuyuki Yamada, Taro Nakamura

{"title":"Prolonging the lifetime of straight-fiber-type pneumatic rubber artificial muscle by shape consideration and material development","authors":"A. Kojima, M. Okui, Yasuyuki Yamada, Taro Nakamura","doi":"10.1109/ROBOSOFT.2018.8404918","DOIUrl":"https://doi.org/10.1109/ROBOSOFT.2018.8404918","url":null,"abstract":"A pneumatic artificial muscle is an air pressure-activated rubber actuator. It is lightweight and high in power density compared to motorized actuators and fluid-powered cylinders. In addition, it shows high compatibility with the human body because it has good flexibility. The authors have developed a straight-fiber-type pneumatic artificial muscle (SF-ARM) with high output and contraction amounts compared to those of the widely used McKibben-type artificial muscle. Although the fatigue life of the McKibben type has been examined, similar studies have not yet been performed for SF-ARM. In this study, the extension of the lifetime of SF-ARM, development of high-deformation rubber material, and examination of the SF-ARM aspect ratio were performed. First, from deformation analysis by the finite element method, the target elongation value of the rubber material was determined and a suitable material was developed. Next, the fatigue life and contraction characteristics were measured by reducing the strain of the rubber material by changing the aspect ratio. The results showed a relationship between the lifetime and the shape of the artificial muscle. We demonstrate that the relationship between the lifetime and contraction force and ratio, according to the application, can be selected by manipulating the shape and the size of the SF-ARM.","PeriodicalId":306255,"journal":{"name":"2018 IEEE International Conference on Soft Robotics (RoboSoft)","volume":"02 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":"122490762","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

An addressable pneumatic regulator for distributed control of soft robots 柔性机器人分布式控制的可寻址气动调节器

2018 IEEE International Conference on Soft Robotics (RoboSoft) Pub Date : 2018-04-24 DOI: 10.1109/ROBOSOFT.2018.8404892

Joran W. Booth, Jennifer C. Case, E. White, Dylan S. Shah, Rebecca Kramer‐Bottiglio

引用次数: 29

Design of a soft robophysical earthworm model 软体机器人物理蚯蚓模型的设计

2018 IEEE International Conference on Soft Robotics (RoboSoft) Pub Date : 2018-04-24 DOI: 10.1109/ROBOSOFT.2018.8404901

Yasemin Ozkan-Aydin, Jennifer L. Molnar, D. Goldman, Frank L. Hammond

引用次数: 17

Dynamic control of soft robots interacting with the environment 软体机器人与环境交互作用的动态控制

2018 IEEE International Conference on Soft Robotics (RoboSoft) Pub Date : 2018-04-24 DOI: 10.1109/ROBOSOFT.2018.8404895

C. D. Santina, Robert K. Katzschmann, A. Bicchi, D. Rus

引用次数: 148

Fluidical bending actuator designed for soft octopus robot tentacle 软章鱼机器人触手的流体弯曲驱动器设计

2018 IEEE International Conference on Soft Robotics (RoboSoft) Pub Date : 2018-04-23 DOI: 10.1109/ROBOSOFT.2018.8404928

J. Fras, M. Macias, Y. Noh, K. Althoefer

引用次数: 22

Development of an adaptable, soft robot with an aortic diameter sensor to modulate blood flow in an extreme biological environment 一种具有主动脉直径传感器的适应性软机器人，用于在极端生物环境中调节血流

2018 IEEE International Conference on Soft Robotics (RoboSoft) Pub Date : 2018-04-01 DOI: 10.1109/ROBOSOFT.2018.8404943

Alok Mehta, Akash Mehta, Diana Velazquez-Pimentel, Samy Sadek, K. Althoefer

引用次数: 0

Topology optimized design, fabrication and evaluation of a multimaterial soft gripper 多材料软夹持器的拓扑优化设计、制造与评价

2018 IEEE International Conference on Soft Robotics (RoboSoft) Pub Date : 2018-04-01 DOI: 10.1109/ROBOSOFT.2018.8405363

Hongying Zhang, A. Kumar, J. Fuh, M. Wang

{"title":"Topology optimized design, fabrication and evaluation of a multimaterial soft gripper","authors":"Hongying Zhang, A. Kumar, J. Fuh, M. Wang","doi":"10.1109/ROBOSOFT.2018.8405363","DOIUrl":"https://doi.org/10.1109/ROBOSOFT.2018.8405363","url":null,"abstract":"In this paper, a systemic approach to design and fabricate a multimaterial soft gripper is proposed. Driven by pneumatic pressure, the soft material inside the gripper acts as integrated actuator and the relatively hard material provides support for its soft body. Because of a large design space, it's hardly to design a multimaterial structure by intuitive or biomimetic approaches. Herein, this structural design problem is tackled by topology optimization approach, where each gripper finger is modeled as a compliant mechanism to achieve its maximum bending deflection. Considering the fabrication process, the soft material structure is preserved unchangeable during the optimization process. Thereafter, the optimized hard material is fabricated through 3D printing and the soft material is created by molding. Characterization experiments show that each gripper finger can undergo 32° bending deformation and exert 0.54N grasping force under 0.05MPa actuation pressure. Moreover, the multimaterial soft gripper can sustain more than 1000 working cycles and grasping a variety of objects ranging from tiny regular skews to large and delicate sunglasses. The proposed design and fabrication approach is freely extendable to soft robots by forming the corresponding optimization model, and stands as a gateway toward high-performance multi-material soft robots.","PeriodicalId":306255,"journal":{"name":"2018 IEEE International Conference on Soft Robotics (RoboSoft)","volume":"24 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2018-04-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"121180627","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: 25

Soft wearable device for lower limb assistance: Assessment of an optimized energy efficient actuation prototype 用于下肢辅助的软性可穿戴设备:一种优化的节能驱动原型的评估

2018 IEEE International Conference on Soft Robotics (RoboSoft) Pub Date : 2018-04-01 DOI: 10.1109/ROBOSOFT.2018.8405385

Tommaso Poliero, C. Natali, M. Sposito, J. Ortiz, E. Graf, C. Pauli, E. Bottenberg, A. D. Eyto, D. Caldwell

{"title":"Soft wearable device for lower limb assistance: Assessment of an optimized energy efficient actuation prototype","authors":"Tommaso Poliero, C. Natali, M. Sposito, J. Ortiz, E. Graf, C. Pauli, E. Bottenberg, A. D. Eyto, D. Caldwell","doi":"10.1109/ROBOSOFT.2018.8405385","DOIUrl":"https://doi.org/10.1109/ROBOSOFT.2018.8405385","url":null,"abstract":"There is a shared trend, in engineering fields related to robotics, to privilege soft systems on behalf of hard ones. This direction stems from the desire of designing and implementing energetically efficient systems that are light, soft, wieldy, reconfigurable and with augmented dexterity. Soft wearable devices will also improve very important characteristics such as wearability and comfort. The design and implementation of a wearable system meeting these requirements is being developed in the XoSoft EU project. In this work we present the design of a soft modular energy-efficient lower limb exoskeleton. It is based on an energy efficiency analysis optimization. Novelty of this work is given by the integration of quasi-passive actuations in a soft exoskeleton. The goal is to assist-during daily tasks-subjects with low to moderate mobility impairments reducing by 10% to 30% the mechanical energy requirements and improving the gait (stability, tiredness, etc). Assistance is meant to be on hip, knee and ankle, in a unilateral or bilateral configuration. A first modular single-joint prototype is described, developed and assessed on a post-stroke patient gait. The comparison between the validation and the simulation showed a similar behavior and an energy reduction of 7.8%. The overall measured assistance given by the exoskeleton on the user's hip segment in terms of power is 9.3%.","PeriodicalId":306255,"journal":{"name":"2018 IEEE International Conference on Soft Robotics (RoboSoft)","volume":"18 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2018-04-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"123447067","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