Soft Robotics最新文献_第10页

Origami-Inspired Soft Twisting Actuator. 折纸启发的软扭转驱动器。

IF 7.9 2区计算机科学

Soft Robotics Pub Date : 2023-04-01 DOI: 10.1089/soro.2021.0185

Diancheng Li, Dongliang Fan, Renjie Zhu, Qiaozhi Lei, Yuxuan Liao, Xin Yang, Yang Pan, Zheng Wang, Yang Wu, Sicong Liu, Hongqiang Wang

{"title":"Origami-Inspired Soft Twisting Actuator.","authors":"Diancheng Li, Dongliang Fan, Renjie Zhu, Qiaozhi Lei, Yuxuan Liao, Xin Yang, Yang Pan, Zheng Wang, Yang Wu, Sicong Liu, Hongqiang Wang","doi":"10.1089/soro.2021.0185","DOIUrl":"https://doi.org/10.1089/soro.2021.0185","url":null,"abstract":"Soft actuators have shown great advantages in compliance and morphology matched for manipulation of delicate objects and inspection in a confined space. There is an unmet need for a soft actuator that can provide torsional motion to, for example, enlarge working space and increase degrees of freedom. Toward this goal, we present origami-inspired soft pneumatic actuators (OSPAs) made from silicone. The prototype can output a rotation of more than one revolution (up to 435°), more significant than its counterparts. Its rotation ratio ( = rotation angle/aspect ratio) is more than 136°, about twice the largest one in other literature. We describe the design and fabrication method, build the analytical model and simulation model, and analyze and optimize the parameters. Finally, we demonstrate the potentially extensive utility of the OSPAs through their integration into a gripper capable of simultaneously grasping and lifting fragile or flat objects, a versatile robot arm capable of picking and placing items at the right angle with the twisting actuators, and a soft snake robot capable of changing attitude and directions by torsion of the twisting actuators.","PeriodicalId":48685,"journal":{"name":"Soft Robotics","volume":"10 2","pages":"395-409"},"PeriodicalIF":7.9,"publicationDate":"2023-04-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"9362005","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":2,"RegionCategory":"计算机科学","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}

引用次数: 5

SofaGym: An Open Platform for Reinforcement Learning Based on Soft Robot Simulations. SofaGym:基于软机器人仿真的开放式强化学习平台。

IF 7.9 2区计算机科学

Soft Robotics Pub Date : 2023-04-01 DOI: 10.1089/soro.2021.0123

Pierre Schegg, Etienne Ménager, Elie Khairallah, Damien Marchal, Jérémie Dequidt, Philippe Preux, Christian Duriez

{"title":"SofaGym: An Open Platform for Reinforcement Learning Based on Soft Robot Simulations.","authors":"Pierre Schegg, Etienne Ménager, Elie Khairallah, Damien Marchal, Jérémie Dequidt, Philippe Preux, Christian Duriez","doi":"10.1089/soro.2021.0123","DOIUrl":"https://doi.org/10.1089/soro.2021.0123","url":null,"abstract":"OpenAI Gym is one of the standard interfaces used to train Reinforcement Learning (RL) Algorithms. The Simulation Open Framework Architecture (SOFA) is a physics-based engine that is used for soft robotics simulation and control based on real-time models of deformation. The aim of this article is to present SofaGym, an open-source software to create OpenAI Gym interfaces, called environments, out of soft robot digital twins. The link between soft robotics and RL offers new challenges for both fields: representation of the soft robot in an RL context, complex interactions with the environment, use of specific mechanical tools to control soft robots, transfer of policies learned in simulation to the real world, etc. The article presents the large possible uses of SofaGym to tackle these challenges by using RL and planning algorithms. This publication contains neither new algorithms nor new models but proposes a new platform, open to the community, that offers non existing possibilities of coupling RL to physics-based simulation of soft robots. We present 11 environments, representing a wide variety of soft robots and applications; we highlight the challenges showcased by each environment. We propose methods of solving the task using traditional control, RL, and planning and point out research perspectives using the platform.","PeriodicalId":48685,"journal":{"name":"Soft Robotics","volume":"10 2","pages":"410-430"},"PeriodicalIF":7.9,"publicationDate":"2023-04-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"9676959","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":2,"RegionCategory":"计算机科学","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}

引用次数: 10

Improvement of Precision Grasping Performance by Interaction Between Soft Finger Pulp and Hard Nail. 软指髓与硬指甲相互作用提高抓握精度。

IF 7.9 2区计算机科学

Soft Robotics Pub Date : 2023-04-01 DOI: 10.1089/soro.2021.0231

Ayane Kumagai, Yoshinobu Obata, Yoshiko Yabuki, Yinlai Jiang, Hiroshi Yokoi, Shunta Togo

{"title":"Improvement of Precision Grasping Performance by Interaction Between Soft Finger Pulp and Hard Nail.","authors":"Ayane Kumagai, Yoshinobu Obata, Yoshiko Yabuki, Yinlai Jiang, Hiroshi Yokoi, Shunta Togo","doi":"10.1089/soro.2021.0231","DOIUrl":"https://doi.org/10.1089/soro.2021.0231","url":null,"abstract":"In this study, we investigated the effect of the presence or absence of fingernails on precision grasping using artificial anthropomimetic fingers. We hypothesized that fingernails improve precision grasping performance by increasing the friction coefficient while suppressing fingertip deformation. To test our hypothesis, we developed artificial fingertips, each composed of bone, nail, skin, and soft tissue, and fabricated three types of artificial fingers with different skin softness grades and artificial fingers without nails as the control condition. Pullout experiments of cylindrical objects and T-shaped blocks were conducted using the developed artificial fingertips with and without nails, and the magnitude of the holding force was compared. The nail contributed to object grasping stability because the magnitude of the holding force was significantly increased by the presence of the nail in the artificial fingertip with soft skin. The rate of increase in the magnitude of the holding force of the T-shaped block was more significant (3.10 times maximum) compared with the cylindrical object (1.08 times maximum) because the finger pulp deformation was suppressed by the nail, and the form closure, that is, geometric constraint, was formed for the grasping object. The results of this study show that soft fingertips and hard nails can significantly improve the grasping performance of soft robotic hands. And these results suggest that the human nail improves precision grasping performance by forming geometric constraints on the grasped object, suppressing finger pulp deformation.","PeriodicalId":48685,"journal":{"name":"Soft Robotics","volume":"10 2","pages":"345-353"},"PeriodicalIF":7.9,"publicationDate":"2023-04-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"9336474","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":2,"RegionCategory":"计算机科学","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}

引用次数: 1

Hydraulic Detrusor for Artificial Bladder Active Voiding. 液压逼尿器用于人工膀胱主动排尿。

IF 7.9 2区计算机科学

Soft Robotics Pub Date : 2023-04-01 DOI: 10.1089/soro.2021.0140

Giada Casagrande, Michele Ibrahimi, Federica Semproni, Veronica Iacovacci, Arianna Menciassi

{"title":"Hydraulic Detrusor for Artificial Bladder Active Voiding.","authors":"Giada Casagrande, Michele Ibrahimi, Federica Semproni, Veronica Iacovacci, Arianna Menciassi","doi":"10.1089/soro.2021.0140","DOIUrl":"https://doi.org/10.1089/soro.2021.0140","url":null,"abstract":"The gold standard treatment for bladder cancer is radical cystectomy that implies bladder removal coupled to urinary diversions. Despite the serious complications and the impossibility of controlled active voiding, bladder substitution with artificial systems is a challenge and cannot represent a real option, yet. In this article, we present hydraulic artificial detrusor prototypes to control and drive the voiding of an artificial bladder (AB). These prototypes rely on two actuator designs (origami and bellows) based either on negative or positive operating pressure, to be combined with an AB structure. Based on the bladder geometry and size, we optimized the actuators in terms of contraction/expansion performances, minimizing the liquid volume required for actuation and exploring different actuator arrangements to maximize the voiding efficiency. To operate the actuators, an ad hoc electrohydraulic circuit was developed for transferring liquid between the actuators and a reservoir, both of them intended to be implanted. The AB, actuators, and reservoir were fabricated with biocompatible flexible thermoplastic materials by a heat-sealing process. We assessed the voiding efficiency with benchtop experiments by varying the actuator type and arrangement at different simulated patient positions (horizontal, 45° tilted, and vertical) to identify the optimal configuration and actuation strategy. The most efficient solution relies on two bellows actuators anchored to the AB. This artificial detrusor design resulted in a voiding efficiency of about 99%, 99%, and 89%, in the vertical, 45° tilted, and horizontal positions, respectively. The relative voiding time was reduced by about 17, 24, and 55 s compared with the unactuated bladder.","PeriodicalId":48685,"journal":{"name":"Soft Robotics","volume":"10 2","pages":"269-279"},"PeriodicalIF":7.9,"publicationDate":"2023-04-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"9391175","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":2,"RegionCategory":"计算机科学","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}

引用次数: 4

SpringWorm: A Soft Crawling Robot with a Large-Range Omnidirectional Deformable Rectangular Spring for Control Rod Drive Mechanism Inspection. 弹簧蠕虫:用于控制棒驱动机构检测的大范围全方位可变形矩形弹簧软爬行机器人。

IF 7.9 2区计算机科学

Soft Robotics Pub Date : 2023-04-01 DOI: 10.1089/soro.2021.0127

Pengpeng Yang, Bo Huang, David McCoul, Donghu Xie, Mingchao Li, Jianwen Zhao

{"title":"SpringWorm: A Soft Crawling Robot with a Large-Range Omnidirectional Deformable Rectangular Spring for Control Rod Drive Mechanism Inspection.","authors":"Pengpeng Yang, Bo Huang, David McCoul, Donghu Xie, Mingchao Li, Jianwen Zhao","doi":"10.1089/soro.2021.0127","DOIUrl":"https://doi.org/10.1089/soro.2021.0127","url":null,"abstract":"In this article, a cable-driven elastic backbone worm-like robot (named \"SpringWorm\") of decimeter-level size is designed, which has high adaptability in crack inspection of the weld between reactor pressure vessel (RPV) and control rod drive mechanisms. The robot consists of a body that adopts a rectangular helix spring backbone driven by four cables and the flexible claws embedded with distributed electromagnets. Combining the omnidirectional deformation of the backbone and the passive deformation adsorption of the claws, the robot can achieve a variety of gaits. Based on the approaches of geometric analysis and transformation matrices of the coordinate frame, a kinematic model of the cable-driven backbone has been established. Moreover, a mechanical model considering the friction between the cable and the backbone has also been established. The top position and the bending angle of the backbone obtained by the theory, simulation, and experiment are in good agreement. In addition, the errors of the driving force between simulation and experimental results are also small. SpringWorm is 670 g, measures 206 × 65 × 75 mm, has a maximum speed of 8.9 mm/s, and has a maximum payload of 1 kg. The robot can climb over 2-cm-tall steps and 4-cm-deep ditches, and climb and turn on the vertical wall, on the pipe with a radius of 31 cm, and on the spherical surface of RPV.","PeriodicalId":48685,"journal":{"name":"Soft Robotics","volume":"10 2","pages":"280-291"},"PeriodicalIF":7.9,"publicationDate":"2023-04-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"9300404","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":2,"RegionCategory":"计算机科学","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}

引用次数: 5

Energy Harvesting for Robots with Adaptive Morphology. 基于自适应形态学的机器人能量收集。

IF 7.9 2区计算机科学

Soft Robotics Pub Date : 2023-04-01 DOI: 10.1089/soro.2021.0138

Shiv A Katiyar, Loong Yi Lee, Fumiya Iida, Surya G Nurzaman

{"title":"Energy Harvesting for Robots with Adaptive Morphology.","authors":"Shiv A Katiyar, Loong Yi Lee, Fumiya Iida, Surya G Nurzaman","doi":"10.1089/soro.2021.0138","DOIUrl":"https://doi.org/10.1089/soro.2021.0138","url":null,"abstract":"Robots primarily made of soft and elastic materials have potential applications such as traveling in confined spaces due to their adaptive morphology. However, their energy efficiency is still subject to improvement. Although a possible approach to increase efficiency is by harvesting the energy used during their behavioral motion, it is not trivial to do so due to their complex dynamics. This work seeks to pioneer a study that exploits the tight coupling between a robot's adaptive morphology, control, and consequent behaviors to harvest energy and increase energy efficiency. It is hypothesized that since varying the robot's morphology may change the energy use that leads to contrasting behavior and efficiency, harvesting the robot's energy will need to be adapted to its morphology. To verify the hypothesis, we developed a shape-changing robot with an elastic structure that achieves locomotion via vibration controlled by a single motor, such that the complex dynamics of the robot can be characterized through its resonance frequencies. It will be shown that harvesting energy at opportune occasions is more important than maximizing the harvest capacity to increase energy efficiency. We will also show how the robot's shape affects energy use in locomotion and how energy harvesting will feedback additional energy that increases the magnitude and affects the robot's behavior. We conclude with an understanding of the role of the robot's morphology, that is, shape, in using the energy provided to the robot and how the understanding can be used to harvest the robot's energy to increase its efficiency.","PeriodicalId":48685,"journal":{"name":"Soft Robotics","volume":"10 2","pages":"365-379"},"PeriodicalIF":7.9,"publicationDate":"2023-04-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"9306913","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":2,"RegionCategory":"计算机科学","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}

引用次数: 0

The Soft Ray-Inspired Robots Actuated by Solid-Liquid Interpenetrating Silicone-Based Dielectric Elastomer Actuator. 固体-液体互穿硅基介电弹性体作动器驱动的软射线机器人。

IF 7.9 2区计算机科学

Soft Robotics Pub Date : 2023-04-01 DOI: 10.1089/soro.2022.0024

Jiahui Xu, Yiling Dong, Jiang Yang, Ziyin Jiang, Longcheng Tang, Xiangrong Chen, Kun Cao

{"title":"The Soft Ray-Inspired Robots Actuated by Solid-Liquid Interpenetrating Silicone-Based Dielectric Elastomer Actuator.","authors":"Jiahui Xu, Yiling Dong, Jiang Yang, Ziyin Jiang, Longcheng Tang, Xiangrong Chen, Kun Cao","doi":"10.1089/soro.2022.0024","DOIUrl":"https://doi.org/10.1089/soro.2022.0024","url":null,"abstract":"Dielectric elastomer actuators (DEAs) are widely used in robotics and artificial muscles because of their large energy densities and short response time. In this study, we developed two types of soft ray-inspired robots using solid-liquid interpenetrating silicone-based DEAs, named SIS DEAs. The optimized SIS DEA had an actuation strain of 79.8% at 20.43 kV/mm in a freestanding state, which was used as the muscle of the ray robot. To imitate the swimming behavior of the ray, the effect of the driving frequency on the velocity of the ray robot was explored. The ray robot achieved a maximum swimming rate of 5.7 mm/s when the driving frequency was ∼0.6 Hz. In addition, the steady-state and the transient simulation were carried out to reveal the mechanism of the ray robot's electro-swimming. The results revealed that the actuating deformation of the SIS DEAs caused the electro-deformation of the ray robot, and the periodical electro-deformation generated the high-speed vortex beneath the robot to push the ray robot forward. The high actuation strain in the freestanding state and the shape customizability of the SIS DEAs made it an ideal alternative to muscles for various soft robots.","PeriodicalId":48685,"journal":{"name":"Soft Robotics","volume":"10 2","pages":"354-364"},"PeriodicalIF":7.9,"publicationDate":"2023-04-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"9362003","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":2,"RegionCategory":"计算机科学","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}

引用次数: 5

Flexible Electronic Skin for Monitoring of Grasping State During Robotic Manipulation. 柔性电子皮肤在机器人操作过程中的抓取状态监测。

IF 7.9 2区计算机科学

Soft Robotics Pub Date : 2023-04-01 DOI: 10.1089/soro.2022.0014

Lusheng Bao, Cheng Han, Guolin Li, Jun Chen, Wenqiang Wang, Hao Yang, Xin Huang, Jiajie Guo, Hao Wu

{"title":"Flexible Electronic Skin for Monitoring of Grasping State During Robotic Manipulation.","authors":"Lusheng Bao, Cheng Han, Guolin Li, Jun Chen, Wenqiang Wang, Hao Yang, Xin Huang, Jiajie Guo, Hao Wu","doi":"10.1089/soro.2022.0014","DOIUrl":"https://doi.org/10.1089/soro.2022.0014","url":null,"abstract":"Electronic skin for robotic tactile sensing has been studied extensively over the past years, yet practical applications of electronic skin for the grasping state monitoring during robotic manipulation are still limited. In this study, we present the fabrication and implementation of electronic skin sensor arrays for the detection of unstable grasping. The piezoresistive sensor arrays have the advantages of facile fabrication, fast response, and high reliability. With the tactile data from the sensor array, we propose two quantitative indicators, correlation coefficient and wavelet coefficient, to identify grasping with variable forces and slippage. Those two indicators reflect both time and frequency domain characteristics in the contact forces from the sensor array and can be obtained without large amount of calculation. We demonstrate the utility of this method under various conditions, the results indicate grasping with variable forces, and slippage can be distinguished by this method. The flexible sensor arrays are adopted for tactile sensing on a bionic hand, and the effectiveness of this method in detecting various grasping states has been verified. The electronic skin sensor array and the grasping state monitoring method are promising for applications in robotic dexterous manipulation.","PeriodicalId":48685,"journal":{"name":"Soft Robotics","volume":"10 2","pages":"336-344"},"PeriodicalIF":7.9,"publicationDate":"2023-04-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"9335483","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":2,"RegionCategory":"计算机科学","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}

引用次数: 3

3D Printed Acoustically Programmable Soft Microactuators. 3D打印声学可编程软微致动器。

IF 7.9 2区计算机科学

Soft Robotics Pub Date : 2023-04-01 DOI: 10.1089/soro.2021.0193

Murat Kaynak, Amit Dolev, Mahmut Selman Sakar

{"title":"3D Printed Acoustically Programmable Soft Microactuators.","authors":"Murat Kaynak, Amit Dolev, Mahmut Selman Sakar","doi":"10.1089/soro.2021.0193","DOIUrl":"https://doi.org/10.1089/soro.2021.0193","url":null,"abstract":"The concept of creating all-mechanical soft microrobotic systems has great potential to address outstanding challenges in biomedical applications, and introduce more sustainable and multifunctional products. To this end, magnetic fields and light have been extensively studied as potential energy sources. On the other hand, coupling the response of materials to pressure waves has been overlooked despite the abundant use of acoustics in nature and engineering solutions. In this study, we show that programmed commands can be contained on 3D nanoprinted polymer systems with the introduction of selectively excited air bubbles and rationally designed compliant mechanisms. A repertoire of micromechanical systems is engineered using experimentally validated computational models that consider the effects of primary and secondary pressure fields on entrapped air bubbles and the surrounding fluid. Coupling the dynamics of bubble oscillators reveals rich acoustofluidic interactions that can be programmed in space and time. We prescribe kinematics by harnessing the forces generated through these interactions to deform structural elements, which can be remotely reconfigured on demand with the incorporation of mechanical switches. These basic actuation and analog control modules will serve as the building blocks for the development of a novel class of micromechanical systems powered and programmed by acoustic signals.","PeriodicalId":48685,"journal":{"name":"Soft Robotics","volume":"10 2","pages":"246-257"},"PeriodicalIF":7.9,"publicationDate":"2023-04-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"https://ftp.ncbi.nlm.nih.gov/pub/pmc/oa_pdf/d5/a4/soro.2021.0193.PMC10123809.pdf","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"9401849","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":2,"RegionCategory":"计算机科学","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"OA","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}

引用次数: 4

Whisker Sensing by Force and Moment Measurements at the Whisker Base. 在须基上进行力和力矩测量的须传感。

IF 7.9 2区计算机科学

Soft Robotics Pub Date : 2023-04-01 DOI: 10.1089/soro.2021.0085

E L Starostin, V G A Goss, G H M van der Heijden

{"title":"Whisker Sensing by Force and Moment Measurements at the Whisker Base.","authors":"E L Starostin, V G A Goss, G H M van der Heijden","doi":"10.1089/soro.2021.0085","DOIUrl":"https://doi.org/10.1089/soro.2021.0085","url":null,"abstract":"We address the theoretical question which forces and moments measured at the base of a whisker (tactile sensor) allow for the prediction of the location in space of the point at which a whisker makes contact with an object. We deal with the general case of three-dimensional deformations as well as with the special case of planar configurations. All deformations are treated as quasi-static, and contact is assumed to be frictionless. We show that the minimum number of independent forces or moments required is three but that conserved quantities of the governing elastic equilibrium equations prevent certain triples from giving a unique solution in the case of contact at any point along the whisker except the tip. The existence of these conserved quantities depends on the material and geometrical properties of the whisker. For whiskers that are tapered and intrinsically curved, there is no obstruction to the prediction of the contact point. We show that the choice of coordinate system (Cartesian or cylindrical) affects the number of suitable triples. Tip and multiple point contact are also briefly discussed. Our results explain recent numerical observations in the literature and offer guidance for the design of robotic tactile sensory devices.","PeriodicalId":48685,"journal":{"name":"Soft Robotics","volume":"10 2","pages":"326-335"},"PeriodicalIF":7.9,"publicationDate":"2023-04-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"9361524","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":2,"RegionCategory":"计算机科学","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}

引用次数: 0