Soft Robotics最新文献_第9页

Magnetic Soft Helical Manipulators with Local Dipole Interactions for Flexibility and Forces. 具有局部偶极相互作用的柔性和力磁软螺旋机械臂。

IF 7.9 2区计算机科学

Soft Robotics Pub Date : 2023-06-01 DOI: 10.1089/soro.2022.0031

Michiel Richter, Mert Kaya, Jakub Sikorski, Leon Abelmann, Venkatasubramanian Kalpathy Venkiteswaran, Sarthak Misra

{"title":"Magnetic Soft Helical Manipulators with Local Dipole Interactions for Flexibility and Forces.","authors":"Michiel Richter, Mert Kaya, Jakub Sikorski, Leon Abelmann, Venkatasubramanian Kalpathy Venkiteswaran, Sarthak Misra","doi":"10.1089/soro.2022.0031","DOIUrl":"https://doi.org/10.1089/soro.2022.0031","url":null,"abstract":"Magnetic continuum manipulators (MCMs) are a class of continuum robots that can be actuated without direct contact by an external magnetic field. MCMs operating in confined workspaces, such as those targeting medical applications, require flexible magnetic structures that contain combinations of magnetic components and polymers to navigate long and tortuous paths. In cylindrical MCM designs, a significant trade-off exists between magnetic moment and bending flexibility as the ratio between length and diameter decreases. In this study, we propose a new MCM design framework that enables increasing diameter without compromising on flexibility and magnetic moment. Magnetic soft composite helices constitute bending regions of the MCM and are separated by permanent ring magnets. Local dipole interactions between the permanent magnets can reduce bending stiffness, depending on their size and spacing. For the particular segment geometry presented herein, the local dipole interactions result in a 31% increase in angular deflection of composite helices inside an external magnetic field, compared to helices without local interactions. In addition, we demonstrate fabrication, maneuverability, and example applications of a multisegment MCM in a phantom of the abdominal aorta, such as passing contrast dye and guidewires.","PeriodicalId":48685,"journal":{"name":"Soft Robotics","volume":null,"pages":null},"PeriodicalIF":7.9,"publicationDate":"2023-06-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"9657361","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

Proprioception and Exteroception of a Soft Robotic Finger Using Neuromorphic Vision-Based Sensing. 基于神经形态视觉传感的柔软机械手指本体感觉和外感觉。

IF 7.9 2区计算机科学

Soft Robotics Pub Date : 2023-06-01 DOI: 10.1089/soro.2022.0030

Omar Faris, Rajkumar Muthusamy, Federico Renda, Irfan Hussain, Dongming Gan, Lakmal Seneviratne, Yahya Zweiri

{"title":"Proprioception and Exteroception of a Soft Robotic Finger Using Neuromorphic Vision-Based Sensing.","authors":"Omar Faris, Rajkumar Muthusamy, Federico Renda, Irfan Hussain, Dongming Gan, Lakmal Seneviratne, Yahya Zweiri","doi":"10.1089/soro.2022.0030","DOIUrl":"https://doi.org/10.1089/soro.2022.0030","url":null,"abstract":"Equipping soft robotic grippers with sensing and perception capabilities faces significant challenges due to their high compliance and flexibility, limiting their ability to successfully interact with the environment. In this work, we propose a sensorized soft robotic finger with embedded marker pattern that integrates a high-speed neuromorphic event-based camera to enable finger proprioception and exteroception. A learning-based approach involving a convolutional neural network is developed to process event-based heat maps and achieve specific sensing tasks. The feasibility of the sensing approach for proprioception is demonstrated by showing its ability to predict the two-dimensional deformation of three points located on the finger structure, whereas the exteroception capability is assessed in a slip detection task that can classify slip heat maps at a temporal resolution of 2 ms. Our results show that our proposed approach can enable complete sensorization of the finger for both proprioception and exteroception using a single camera without negatively affecting the finger compliance. Using such sensorized finger in robotic grippers may provide safe, adaptive, and precise grasping for handling a wide category of objects.","PeriodicalId":48685,"journal":{"name":"Soft Robotics","volume":null,"pages":null},"PeriodicalIF":7.9,"publicationDate":"2023-06-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"9656848","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: 6

Generating Clear Vibrotactile Cues with a Magnet Embedded in a Soft Finger Sheath. 用嵌入软指套的磁铁产生清晰的振动触觉提示。

IF 7.9 2区计算机科学

Soft Robotics Pub Date : 2023-06-01 DOI: 10.1089/soro.2021.0184

Ifat Gertler, Gokhan Serhat, Katherine J Kuchenbecker

{"title":"Generating Clear Vibrotactile Cues with a Magnet Embedded in a Soft Finger Sheath.","authors":"Ifat Gertler, Gokhan Serhat, Katherine J Kuchenbecker","doi":"10.1089/soro.2021.0184","DOIUrl":"https://doi.org/10.1089/soro.2021.0184","url":null,"abstract":"Haptic displays act on the user's body to stimulate the sense of touch and enrich applications from gaming and computer-aided design to rehabilitation and remote surgery. However, when crafted from typical rigid robotic components, they tend to be heavy, bulky, and expensive, while sleeker designs often struggle to create clear haptic cues. This article introduces a lightweight wearable silicone finger sheath that can deliver salient and rich vibrotactile cues using electromagnetic actuation. We fabricate the sheath on a ferromagnetic mandrel with a process based on dip molding, a robust fabrication method that is rarely used in soft robotics but is suitable for commercial production. A miniature rare-earth magnet embedded within the silicone layers at the center of the finger pad is driven to vibrate by the application of alternating current to a nearby air-coil. Experiments are conducted to determine the amplitude of the magnetic force and the frequency response function for the displacement amplitude of the magnet perpendicular to the skin. In addition, high-fidelity finite element analyses of the finger wearing the device are performed to investigate the trends observed in the measurements. The experimental and simulated results show consistent dynamic behavior from 10 to 1000 Hz, with the displacement decreasing after about 300 Hz. These results match the detection threshold profile obtained in a psychophysical study performed by 17 users, where more current was needed only at the highest frequency. A cue identification experiment and a demonstration in virtual reality validate the feasibility of this approach to fingertip haptics.","PeriodicalId":48685,"journal":{"name":"Soft Robotics","volume":null,"pages":null},"PeriodicalIF":7.9,"publicationDate":"2023-06-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"https://ftp.ncbi.nlm.nih.gov/pub/pmc/oa_pdf/1c/4f/soro.2021.0184.PMC10278030.pdf","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"9719436","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: 1

Dynamic Research on Nonlinear Locomotion of Inchworm-Inspired Soft Crawling Robot. 蠕虫状软爬行机器人非线性运动动力学研究。

IF 7.9 2区计算机科学

Soft Robotics Pub Date : 2023-06-01 DOI: 10.1089/soro.2022.0002

Qiping Xu, Jinyang Liu

{"title":"Dynamic Research on Nonlinear Locomotion of Inchworm-Inspired Soft Crawling Robot.","authors":"Qiping Xu, Jinyang Liu","doi":"10.1089/soro.2022.0002","DOIUrl":"https://doi.org/10.1089/soro.2022.0002","url":null,"abstract":"Inchworm-inspired bionic soft crawling robot (SCR) composed of soft materials possesses preeminent active compliant deformation ability and has obvious advantages over traditional hard robots when moving in a confined space, which is up-and-coming candidate in robotic community. Nevertheless, there are rare investigations on dynamic modeling problems of the SCR allowing for its nonlinear deformation properties and frictional contact that affects its crawling performance. In view of this, within the theoretical framework of absolute nodal coordinate formulation, in consideration of material, geometry, and boundary nonlinearities, combining a multiple-point contact model with the Coulomb friction model, an effective and accurate nonlinear dynamic model for a bioinspired SCR with one single limb is proposed to elucidate its motion law. We implement an in-depth dynamic research and analysis on the SCR in terms of average velocity, stick-slip characteristic, gaits and successfully simulate its successive forward crawling locomotion meanwhile gaining dynamic response. The proposed theoretical dynamic model correctly captures the SCR' complex geometry configurations and nonlinear deformations, discloses its stick-slip dynamic behaviors and crawling locomotion mechanism, whose effectiveness and superiority are validated experimentally, which inspires a deep insight to motion analysis of other types of soft robots, and enlightens new ideas of their diversified architecture designs.","PeriodicalId":48685,"journal":{"name":"Soft Robotics","volume":null,"pages":null},"PeriodicalIF":7.9,"publicationDate":"2023-06-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"9595139","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: 2

Design and Gesture Optimization of a Soft-Rigid Robotic Hand for Adaptive Grasping. 自适应抓取软刚性机械手的设计与姿态优化。

IF 7.9 2区计算机科学

Soft Robotics Pub Date : 2023-06-01 DOI: 10.1089/soro.2021.0208

Tianlei Wang, Wenhua Jiao, Zhenxing Sun, Xinghua Zhang

引用次数: 0

A Multimodal, Reconfigurable Workspace Soft Gripper for Advanced Grasping Tasks. 用于高级抓取任务的多模态、可重构工作空间软抓取器。

IF 7.9 2区计算机科学

Soft Robotics Pub Date : 2023-06-01 DOI: 10.1089/soro.2021.0225

Snehal Jain, Saikrishna Dontu, Joanne Ee Mei Teoh, Pablo Valdivia Y Alvarado

{"title":"A Multimodal, Reconfigurable Workspace Soft Gripper for Advanced Grasping Tasks.","authors":"Snehal Jain, Saikrishna Dontu, Joanne Ee Mei Teoh, Pablo Valdivia Y Alvarado","doi":"10.1089/soro.2021.0225","DOIUrl":"https://doi.org/10.1089/soro.2021.0225","url":null,"abstract":"A new generation of soft functional materials and actuator designs has ushered the development of highly advanced soft grippers as adaptive alternatives to traditional rigid end-effectors for grasping and manipulation applications. While being advantageous over their rigid counterparts, soft gripper capabilities such as contact effort are mostly a consequence of the gripper workspace, which in turn is largely constrained by the gripper design. Moreover, soft grippers designed for highly specific grasping tasks such as scooping grains or wide payloads are usually limited in grasping other payload types or in their manipulation versatility. This article describes a reconfigurable workspace soft (RWS) gripper that exploits compliant structures and pneumatic actuators to reconfigure its workspace to suit a wide range of grasping tasks. To achieve desired kinematics, finite element analysis (FEA) studies are conducted to dictate actuator design and materials used. Various grasping modes and their reconfiguration of the gripper workspace are presented and characterized, including the gripper's capability to reliably scoop granular items with radii as small as 1.5 mm, precisely pick items as thin as 300 μm from flat surfaces, as well as grasp large convex, nonconvex, and deformable items as heavy as 1.4 kg. The RWS gripper can modify and increase its grasping workspace volume by 397%, enabling the widest range of grasping capabilities to date achieved by a single soft gripper.","PeriodicalId":48685,"journal":{"name":"Soft Robotics","volume":null,"pages":null},"PeriodicalIF":7.9,"publicationDate":"2023-06-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"https://ftp.ncbi.nlm.nih.gov/pub/pmc/oa_pdf/50/f0/soro.2021.0225.PMC10278002.pdf","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"9718949","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: 5

Bio-Inspired Transparent Soft Jellyfish Robot. 仿生透明软水母机器人。

IF 7.9 2区计算机科学

Soft Robotics Pub Date : 2023-06-01 DOI: 10.1089/soro.2022.0027

Yuzhe Wang, Pengpeng Zhang, Hui Huang, Jian Zhu

{"title":"Bio-Inspired Transparent Soft Jellyfish Robot.","authors":"Yuzhe Wang, Pengpeng Zhang, Hui Huang, Jian Zhu","doi":"10.1089/soro.2022.0027","DOIUrl":"https://doi.org/10.1089/soro.2022.0027","url":null,"abstract":"Jellyfish are among the widely distributed nature creatures that can effectively control the fluidic flow around their transparent soft body, thus achieving movements in the water and camouflage in the surrounding environments. Till now, it remains a challenge to replicate both transparent appearance and functionalities of nature jellyfish in synthetic systems due to the lack of transparent actuators. In this work, a fully transparent soft jellyfish robot is developed to possess both transparency and bio-inspired omni motions in water. This robot is driven by transparent dielectric elastomer actuators (DEAs) using hybrid silver nanowire networks and conductive polymer poly(3,4-ethylenedioxythiophene):poly(styrenesulfonate)/waterborne polyurethane as compliant electrodes. The electrode exhibits large stretchability, low stiffness, high transmittance, and excellent conductivity at large strains. Consequently, the highly transparent DEA based on this hybrid electrode, with Very-High-Bond membranes as dielectric layers and polydimethylsiloxane as top coating, can achieve a maximum area strain of 146% with only 3% hysteresis loss. Driven by this transparent DEA, the soft jellyfish robot can achieve vertical and horizontal movements in water, by mimicking the actual pulsating rhythm of an Aurelia aurita. The bio-inspired robot can serve multiple functions as an underwater soft robot. The hybrid electrodes and bio-inspired design approach are potentially useful in a variety of soft robots and flexible devices.","PeriodicalId":48685,"journal":{"name":"Soft Robotics","volume":null,"pages":null},"PeriodicalIF":7.9,"publicationDate":"2023-06-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"9657348","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: 9

Tuning Stiffness with Granular Chain Structures for Versatile Soft Robots. 基于颗粒链结构的多用途软机器人刚度调整。

IF 7.9 2区计算机科学

Soft Robotics Pub Date : 2023-06-01 DOI: 10.1089/soro.2021.0218

Si-Qi An, Wen-Hao Li, Ji-Hui Li, Hai-Lin Zou, Zi-Chen Deng

{"title":"Tuning Stiffness with Granular Chain Structures for Versatile Soft Robots.","authors":"Si-Qi An, Wen-Hao Li, Ji-Hui Li, Hai-Lin Zou, Zi-Chen Deng","doi":"10.1089/soro.2021.0218","DOIUrl":"https://doi.org/10.1089/soro.2021.0218","url":null,"abstract":"Stiffness variation can greatly enhance soft robots' load capacity and compliance. Jamming methods are widely used where stiffness variation is realized by jamming of particles, layers, or fibers. It is still challenging to make the variable stiffness components lightweight and adaptive. Besides, the existing jamming mechanisms generally encounter deformation-induced softening, restricting their applications in cases where large deformation and high stiffness are both needed. Herein, a multifunctional granular chain assemblage is proposed, where particles are formed into chains with threads. The chain jamming can be classified into two types. Granular chain jamming (GCJ) utilizes typical particles such as spherical particles, which can achieve both high stiffness and great adaptability while keeping jamming components relatively lightweight, while by using cubic particles, a peculiar deformation-induced stiffening mechanism is found, which is termed as stretch-enhanced particle jamming (SPJ). The versatility of GCJ and SPJ mechanisms in soft robots is demonstrated through soft grippers, soft crawlers, or soft bending actuators, where great passive adaptability, high load capacity, joint-like bending, friction enhancement, or postponing buckling can be realized, respectively. This work thus offers a facile and low-cost strategy to fabricate versatile soft robots.","PeriodicalId":48685,"journal":{"name":"Soft Robotics","volume":null,"pages":null},"PeriodicalIF":7.9,"publicationDate":"2023-06-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"9609285","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

A Geometric Kinematic Model for Flexible Voxel-Based Robots. 柔性体素机器人的几何运动学模型。

IF 7.9 2区计算机科学

Soft Robotics Pub Date : 2023-06-01 DOI: 10.1089/soro.2021.0139

Maryam Tebyani, Alex Spaeth, Nicholas Cramer, Mircea Teodorescu

引用次数: 0

Bioinspired 3D-Printed Snakeskins Enable Effective Serpentine Locomotion of a Soft Robotic Snake. 仿生3d打印蛇皮使柔软的机器蛇能够进行有效的蛇形运动。

IF 7.9 2区计算机科学

Soft Robotics Pub Date : 2023-06-01 DOI: 10.1089/soro.2022.0051

Xinda Qi, Tong Gao, Xiaobo Tan

引用次数: 4