Soft Robotics最新文献_第4页

Bio-SHARPE: Bioinspired Soft and High Aspect Ratio Pumping Element for Robotic and Medical Applications. Bio-SHARPE:仿生软和高纵横比泵送元件，用于机器人和医疗应用。

IF 7.9 2区计算机科学

Soft Robotics Pub Date : 2023-12-01 Epub Date: 2023-05-02 DOI: 10.1089/soro.2021.0154

James Davies, Mai Thanh Thai, Harrison Low, Phuoc Thien Phan, Trung Thien Hoang, Nigel Hamilton Lovell, Thanh Nho Do

{"title":"Bio-SHARPE: Bioinspired Soft and High Aspect Ratio Pumping Element for Robotic and Medical Applications.","authors":"James Davies, Mai Thanh Thai, Harrison Low, Phuoc Thien Phan, Trung Thien Hoang, Nigel Hamilton Lovell, Thanh Nho Do","doi":"10.1089/soro.2021.0154","DOIUrl":"10.1089/soro.2021.0154","url":null,"abstract":"The advent of soft robots has solved many issues posed by their rigid counterparts, including safer interactions with humans and the capability to work in narrow and complex environments. While much work has been devoted to developing soft actuators and bioinspired mechatronic systems, comparatively little has been done to improve the methods of actuation. Hydraulically soft actuators (HSAs) are emerging candidates to control soft robots due to their fast responses, low noise, and low hysteresis compared to compressible pneumatic ones. Despite advances, current hydraulic sources for large HSAs are still bulky and require high power availability to drive the pumping plant. To overcome these challenges, this work presents a new bioinspired soft and high aspect ratio pumping element (Bio-SHARPE) for use in soft robotic and medical applications. This new soft pumping element can amplify its input volume to at least 8.6 times with a peak pressure of at least 40 kPa. The element can be integrated into existing hydraulic pumping systems like a hydraulic gearbox. Naturally, an amplification of fluid volume can only come at the sacrifice of pumping pressure, which was observed as a 19.1:1 reduction from input to output pressure. The new concept enables a large soft robotic body to be actuated by smaller fluid reservoirs and pumping plant, potentially reducing their power and weight, and thus facilitating drive source miniaturization. The high amplification ratio also makes soft robotic systems more applicable for human-centric applications such as rehabilitation aids, bioinspired untethered soft robots, medical devices, and soft artificial organs. Details of the fabrication and experimental characterization of the Bio-SHARPE and its associated components are given. A soft robotic squid and an artificial heart ventricle are introduced and experimentally validated.","PeriodicalId":48685,"journal":{"name":"Soft Robotics","volume":" ","pages":"1055-1069"},"PeriodicalIF":7.9,"publicationDate":"2023-12-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"9752781","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

Tunable, Textile-Based Joint Impedance Module for Soft Robotic Applications. 用于软机器人应用的可调谐、基于纺织品的关节阻抗模块。

IF 7.9 2区计算机科学

Soft Robotics Pub Date : 2023-10-01 Epub Date: 2023-04-12 DOI: 10.1089/soro.2021.0173

Ciarán T O'Neill, Harrison T Young, Cameron J Hohimer, Tommaso Proietti, Mo Rastgaar, Panagiotis Artemiadis, Conor J Walsh

{"title":"Tunable, Textile-Based Joint Impedance Module for Soft Robotic Applications.","authors":"Ciarán T O'Neill, Harrison T Young, Cameron J Hohimer, Tommaso Proietti, Mo Rastgaar, Panagiotis Artemiadis, Conor J Walsh","doi":"10.1089/soro.2021.0173","DOIUrl":"10.1089/soro.2021.0173","url":null,"abstract":"The design of soft actuators is often focused on achieving target trajectories or delivering specific forces and torques, rather than controlling the impedance of the actuator. This article outlines a new soft, tunable pneumatic impedance module based on an antagonistic actuator setup of textile-based pneumatic actuators intended to deliver bidirectional torques about a joint. Through mechanical programming of the actuators (select tuning of geometric parameters), the baseline torque to angle relationship of the module can be tuned. A high bandwidth fluidic controller that can rapidly modulate the pressure at up to 8 Hz in each antagonistic actuator was also developed to enable tunable impedance modulation. This high bandwidth was achieved through the characterization and modeling of the proportional valves used, derivation of a fluidic model, and derivation of control equations. The resulting impedance module was capable of modulating its stiffness from 0 to 100 Nm/rad, at velocities up to 120°/s and emulating asymmetric and nonlinear stiffness profiles, typical in wearable robotic applications.","PeriodicalId":48685,"journal":{"name":"Soft Robotics","volume":" ","pages":"937-947"},"PeriodicalIF":7.9,"publicationDate":"2023-10-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"9337689","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

Macro Fiber Composite-Actuated Soft Robotic Fish: A Gray Box Model-Predictive Motion Planning Strategy Under Limited Actuation. 宏纤维复合材料驱动的软体机器人鱼：有限驱动下的灰盒模型预测运动规划策略。

IF 7.9 2区计算机科学

Soft Robotics Pub Date : 2023-10-01 Epub Date: 2023-03-23 DOI: 10.1089/soro.2022.0061

Arthur Silva Barbosa, Maíra Martins da Silva

引用次数: 2

Nonbiomorphic Passively Adaptive Swimming Robot Enables Agile Propulsion in Cluttered Aquatic Environments. 非生物形态被动自适应游泳机器人在杂乱的水生环境中实现敏捷推进。

IF 7.9 2区计算机科学

Soft Robotics Pub Date : 2023-10-01 Epub Date: 2023-07-17 DOI: 10.1089/soro.2022.0063

Bangyuan Liu, Frank L Hammond

{"title":"Nonbiomorphic Passively Adaptive Swimming Robot Enables Agile Propulsion in Cluttered Aquatic Environments.","authors":"Bangyuan Liu, Frank L Hammond","doi":"10.1089/soro.2022.0063","DOIUrl":"10.1089/soro.2022.0063","url":null,"abstract":"Aquatic swimmers, whether natural or artificial, leverage their maneuverability and morphological adaptability to operate successfully in diverse, complex underwater environments. Maneuverability allows swimmers the agility to change speed and direction within a constrained operating space, while morphological adaptability allows their bodies to deform as they avoid obstacles and pass through narrow gaps. In this work, we design a soft, modular, nonbiomorphic swimming robot that emulates the maneuverability and adaptability of biological swimmers. This tethered swimming robot is actuated by a two degree-of-freedom (2-DOF) cable-driven mechanism that enables not only common maneuvers, such as undulatory surging and pitch/yaw rotations, but also a roll rotation maneuver that is steady and controllable. This simple 2-DOF system demonstrates full 3D swimming abilities in a space-constrained underwater test bed. The soft compliant body and passive foldable fins of the swimming robot lend to its morphological adaptability, allowing it to move through narrow gaps, channels, and tunnels and to avoid obstacles without the need for a low-level feedback control strategy. The passive adaptability and maneuvering capabilities of our swimming robot offer a new approach to achieving underwater navigation in complex real-world settings.","PeriodicalId":48685,"journal":{"name":"Soft Robotics","volume":" ","pages":"884-896"},"PeriodicalIF":7.9,"publicationDate":"2023-10-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"10061416","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

Reconfigurable Soft Pneumatic Actuators Using Extensible Fabric-Based Skins. 使用可扩展织物蒙皮的可重构软气动执行器。

IF 7.9 2区计算机科学

Soft Robotics Pub Date : 2023-10-01 Epub Date: 2023-04-12 DOI: 10.1089/soro.2022.0089

Ajinkya Bhat, Shobhit Sandeep Jaipurkar, Li Ting Low, Raye Chen-Hua Yeow

{"title":"Reconfigurable Soft Pneumatic Actuators Using Extensible Fabric-Based Skins.","authors":"Ajinkya Bhat, Shobhit Sandeep Jaipurkar, Li Ting Low, Raye Chen-Hua Yeow","doi":"10.1089/soro.2022.0089","DOIUrl":"10.1089/soro.2022.0089","url":null,"abstract":"The development of the field of soft robotics has led to the exploration of novel techniques to manufacture soft actuators, which provide distinct advantages for wearable assistive robotics. One subset of these soft pneumatic actuators is conventionally developed from silicone, fabrics, and thermoplastic polyurethane (TPU). Each of these materials in isolation possesses limitations of low-stress capacity, low-design complexity, and high-input pressure requirements, respectively. Combining these materials can overcome some limitations and maintain their desirable properties. In this article, we explore one such composite design scheme using a combination of silicone polymer-based bladder and reconfigurable fabric skin made from an anisotropic extensible fabric. The silicone polymer bladder acts as the hermetic seal, while this skin acts as the constraint. Bending and torsional actuators were designed utilizing the anisotropy of these fabrics. The torsional actuator designs can achieve over 540° of twist, significantly larger than previously reported in the literature, owing to the lower mechanical impedance of the extensible fabrics. Actuators with 360° of bending were also fabricated using this method. In addition, the lack of TPU-backed or inextensible fabrics reduces the actuator's stiffness, leading to lower actuation pressures. Skin-based designs also confer the advantage of modularity, reconfigurability, and the ability to achieve complex motions by tuning the properties of the bladder and the skin. For applications with high-force requirements, such as wearable exoskeletons, we demonstrate the utility of multilayer design schemes. A multilayer bending actuator generated 190 N of force at 100 kPa and was shown to be a candidate for wearable assistive devices. In addition, torsional designs were shown to have utility in practical scenarios such as screwing on a bottle cap and turning knobs. Thus, we present a novel fabric-skin-based design concept that is highly versatile and customizable for various application requirements.","PeriodicalId":48685,"journal":{"name":"Soft Robotics","volume":" ","pages":"923-936"},"PeriodicalIF":7.9,"publicationDate":"2023-10-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"9337693","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

Nonlinear Multimaterial Architecture for Greater Soft Material's Toughness and Delaying Damage Propagation. 用于提高软材料韧性和延迟损伤传播的非线性多材料体系结构。

IF 7.9 2区计算机科学

Soft Robotics Pub Date : 2023-10-01 Epub Date: 2023-05-12 DOI: 10.1089/soro.2021.0205

Marwa ElDiwiny, Seppe Terryn, Svetlana Verbruggen, Bram Vanderborght

{"title":"Nonlinear Multimaterial Architecture for Greater Soft Material's Toughness and Delaying Damage Propagation.","authors":"Marwa ElDiwiny, Seppe Terryn, Svetlana Verbruggen, Bram Vanderborght","doi":"10.1089/soro.2021.0205","DOIUrl":"10.1089/soro.2021.0205","url":null,"abstract":"Designing soft robots that have greater toughness and better resistance to damage propagation while at the same time retaining their properties of compliance is fundamentally important for soft robotics applications. This study's main contribution is proposing a framework for nonlinear multimaterial architectural design of soft structures to increase their toughness and delay damage propagation. What are the limits when combining significantly different materials in one structure that will delay crack propagation while significantly maintaining postdamage toughness? Through this study, we observed that there is a very dynamic interplay when combining significantly different materials in one structure; this interplay could weaken or strengthen the multimaterial structure's toughness. In biological evolutionary terms, the Pangolin, Seashell, and Arapaima have found their answer for deflecting the crack and maintaining strength in their bodies. How does nature put these multimaterial structures together? Our research led us to find that the multimaterial toughness limits depend largely on the following parameters: components' relative morphology, architecture, spatial distribution, surface areas, and Young's Modulus. We found that a linear geometry, when it comes to morphology and/or architecture relative to surface area in multimaterial design, significantly reduces total toughness and fails to delay crack propagation. In contrast, incorporating geometric nonlinearities in both morphology and architecture significantly maintains higher total toughness even after damage, and significantly delays crack propagation. We believe that this study can open the door to further research and ultimately to promising and wide applications in soft robotics.","PeriodicalId":48685,"journal":{"name":"Soft Robotics","volume":" ","pages":"959-971"},"PeriodicalIF":7.9,"publicationDate":"2023-10-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"9803805","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

JamTac: A Tactile Jamming Gripper for Searching and Grasping in Low-Visibility Environments. JamTac:一种在低能见度环境中搜索和抓取的触觉干扰夹。

IF 7.9 2区计算机科学

Soft Robotics Pub Date : 2023-10-01 Epub Date: 2023-06-05 DOI: 10.1089/soro.2022.0134

Shoujie Li, Linqi Ye, Haixin Yu, Xianghui Yin, Chongkun Xia, Wenbo Ding, Xueqian Wang, Bin Liang

引用次数: 1

Optimal Control of Dielectric Elastomer Actuated Multibody Dynamical Systems. 介电弹性体驱动多体动力学系统的最优控制。

IF 7.9 2区计算机科学

Soft Robotics Pub Date : 2023-10-01 Epub Date: 2023-03-28 DOI: 10.1089/soro.2022.0162

Dengpeng Huang, Sigrid Leyendecker

{"title":"Optimal Control of Dielectric Elastomer Actuated Multibody Dynamical Systems.","authors":"Dengpeng Huang, Sigrid Leyendecker","doi":"10.1089/soro.2022.0162","DOIUrl":"10.1089/soro.2022.0162","url":null,"abstract":"In this work, a simulation model for the optimal control of dielectric elastomer actuated flexible multibody dynamics systems is presented. The dielectric elastomer actuator (DEA) behaves like a flexible artificial muscle in soft robotics. It is modeled as an electromechanically coupled geometrically exact beam, where the electric charges serve as control variables. The DEA-beam is integrated as an actuator into multibody systems consisting of rigid and flexible components. The model also represents contact interaction via unilateral constraints between the beam actuator and, for example, a rigid body during the grasping process of a soft robot. With a mathematically concise and physically representative formulation, a reduced free energy function is developed for the electromechanically coupled beam. In the optimal control problem, an objective function is minimized while the electromechanically coupled dynamic balance equations for the multibody system have to be fulfilled together with the complementarity conditions for the contact and boundary conditions. The optimal control problem is solved via a direct transcription method, transforming it into a constrained nonlinear optimization problem. The electromechanically coupled geometrically exact beam is firstly semidiscretized with one-dimensional finite elements and then the multibody dynamics is temporally discretized with a variational integrator leading to the discrete Euler-Lagrange equations, which are further reduced with the null space projection. The discrete Euler-Lagrange equations and the boundary conditions serve as equality constraints, whereas the contact constraints are treated as inequality constraints in the optimization of the discretized objective. The constrained optimization problem is solved using the Interior Point Optimizer solver. The effectiveness of the developed model is demonstrated by three numerical examples, including a cantilever beam, a soft robotic worm, and a soft robotic grasper.","PeriodicalId":48685,"journal":{"name":"Soft Robotics","volume":" ","pages":"897-911"},"PeriodicalIF":7.9,"publicationDate":"2023-10-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"9246996","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

Kinetostatic Modeling of Soft Robots: Energy-Minimization Approach and 99-Line MATLAB Implementation. 软机器人的运动学建模：能量最小化方法和99线MATLAB实现。

IF 7.9 2区计算机科学

Soft Robotics Pub Date : 2023-10-01 Epub Date: 2023-04-19 DOI: 10.1089/soro.2022.0070

Xiaohui Pei, Guimin Chen

{"title":"Kinetostatic Modeling of Soft Robots: Energy-Minimization Approach and 99-Line MATLAB Implementation.","authors":"Xiaohui Pei, Guimin Chen","doi":"10.1089/soro.2022.0070","DOIUrl":"10.1089/soro.2022.0070","url":null,"abstract":"Soft robots have received a great deal of attention from both academia and industry due to their unprecedented adaptability in unstructured environment and extreme dexterity for complicated operations. Due to the strong coupling between the material nonlinearity due to hyperelasticity and the geometric nonlinearity due to large deflections, modeling of soft robots is highly dependent on commercial finite element software packages. An approach that is accurate and fast, and whose implementation is open to designers, is in great need. Considering that the constitutive relation of the hyperelastic materials is commonly expressed by its energy density function, we present an energy-based kinetostatic modeling approach in which the deflection of a soft robot is formulated as a minimization problem of its total potential energy. A fixed Hessian matrix of strain energy is proposed and adopted in the limited memory Broyden-Fletcher-Goldfarb-Shanno (BFGS) algorithm, which significantly improves its efficiency for solving the minimization problem of soft robots without sacrificing prediction accuracy. The simplicity of the approach leads to an implementation of MATLAB with only 99-line codes, which provides an easy-to-use tool for designers who are designing and optimizing the structures of soft robots. The efficiency of the proposed approach for predicting kinetostatic behaviors of soft robots is demonstrated by seven pneumatic-driven and cable-driven soft robots. The capability of the approach for capturing buckling behaviors in soft robots is also demonstrated. The energy-minimization approach, as well as the MATLAB implementation, could be easily tailored to fulfill various tasks, including design, optimization, and control of soft robots.","PeriodicalId":48685,"journal":{"name":"Soft Robotics","volume":" ","pages":"972-987"},"PeriodicalIF":7.9,"publicationDate":"2023-10-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"9440723","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

Multifunctional Soft Stackable Robots by Netting-Rolling-Splicing Pneumatic Artificial Muscles. 网状滚动拼接气动人工肌肉的多功能软堆叠机器人。

IF 7.9 2区计算机科学

Soft Robotics Pub Date : 2023-10-01 Epub Date: 2023-04-19 DOI: 10.1089/soro.2022.0104

Qinghua Guan, Liwu Liu, Jian Sun, Jiale Wang, Jianglong Guo, Yanju Liu, Jinsong Leng

{"title":"Multifunctional Soft Stackable Robots by Netting-Rolling-Splicing Pneumatic Artificial Muscles.","authors":"Qinghua Guan, Liwu Liu, Jian Sun, Jiale Wang, Jianglong Guo, Yanju Liu, Jinsong Leng","doi":"10.1089/soro.2022.0104","DOIUrl":"10.1089/soro.2022.0104","url":null,"abstract":"Soft robots equipped with multifunctionalities have been increasingly needed for secure, adaptive, and autonomous functioning in unknown and unpredictable environments. Robotic stacking is a promising solution to increase the functional diversity of soft robots, which are required for safe human-machine interactions and adapting in unstructured environments. However, most existing multifunctional soft robots have a limited number of functions or have not fully shown the superiority of the robotic stacking method. In this study, we present a novel robotic stacking strategy, Netting-Rolling-Splicing (NRS) stacking, based on a dimensional raising method via 2D-to-3D rolling-and-splicing of netted stackable pneumatic artificial muscles to quickly and efficiently fabricate multifunctional soft robots based on the same, simple, and cost-effective elements. To demonstrate it, we developed a TriUnit robot that can crawl 0.46 ± 0.022 body length per second (BL/s) and climb 0.11 BL/s, and can carry a 3 kg payload while climbing. Also, the TriUnit can be used to achieve novel omnidirectional pipe climbing including rotating climbing, and conduct bionic swallowing-and-regurgitating, multi-degree-of-freedom manipulation based on their multimodal combinations. Apart from these, steady rolling, with a speed of 0.19 BL/s, can be achieved by using a pentagon unit. Furthermore, we applied the TriUnit pipe climbing robot in panoramic shooting and cargo transferring to demonstrate the robot's adaptability for different tasks. The NRS stacking-driven soft robot here has demonstrated the best overall performance among existing stackable soft robots, representing a new and effective way for building multifunctional and multimodal soft robots in a cost-effective and efficient way.","PeriodicalId":48685,"journal":{"name":"Soft Robotics","volume":" ","pages":"1001-1014"},"PeriodicalIF":7.9,"publicationDate":"2023-10-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"9388912","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