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SPADA: A Toolbox of Designing Soft Pneumatic Actuators for Shape Matching Based on Surrogate Modeling. SPADA：基于代理建模的形状匹配软气动执行器设计工具箱

Robotics reports (New Rochelle, N.Y.) Pub Date : 2024-01-18 eCollection Date: 2024-01-01 DOI: 10.1089/rorep.2023.0029

Yao Yao, Liang He, Perla Maiolino

{"title":"SPADA: A Toolbox of Designing Soft Pneumatic Actuators for Shape Matching Based on Surrogate Modeling.","authors":"Yao Yao, Liang He, Perla Maiolino","doi":"10.1089/rorep.2023.0029","DOIUrl":"10.1089/rorep.2023.0029","url":null,"abstract":"Soft pneumatic actuators (SPAs) produce motions for soft robots with simple pressure input, however, they require to be appropriately designed to fit the target application. Available design methods employ kinematic models and optimization to estimate the actuator response and the optimal design parameters to achieve a target actuator's shape. Within SPAs, bellow SPAs excel in rapid prototyping and large deformation, yet their kinematic models often lack accuracy due to the geometry complexity and the material nonlinearity. Furthermore, existing shape-matching algorithms are not providing an end-to-end solution from the desired shape to the actuator. In addition, despite the availability of computational design pipelines, an accessible and user-friendly toolbox for direct application remains elusive. This article addresses these challenges, offering an end-to-end shape-matching design framework for bellow SPAs to streamline the design process, and the open-source toolbox SPADA (Soft Pneumatic Actuator Design frAmework) implementing the framework with a graphic user interface for easy access. It provides a kinematic model grounded on a modular design to improve accuracy, finite element method (FEM) simulations, and piecewise constant curvature (PCC) approximation. An artificial neural network-trained surrogate model, based on FEM simulation data, is trained for fast computation in optimization. A shape-matching algorithm, merging three-dimensional (3D) PCC segmentation and a surrogate model-based genetic algorithm, identifies optimal actuator design parameters for desired shapes. The toolbox, implementing the proposed design framework, has proven its end-to-end capability in designing actuators to precisely match two-dimensional shapes with root-mean-squared-errors of 4.16, 2.70, and 2.51 mm, and demonstrating its potential by designing a 3D deformable actuator.","PeriodicalId":519886,"journal":{"name":"Robotics reports (New Rochelle, N.Y.)","volume":"2 1","pages":"1-14"},"PeriodicalIF":0.0,"publicationDate":"2024-01-18","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"https://www.ncbi.nlm.nih.gov/pmc/articles/PMC11386149/pdf/","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"142305774","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"OA","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}

引用次数: 0

Toward a Unified Naming Scheme for Thermo-Active Soft Actuators: A Review of Materials, Working Principles, and Applications. 为热活性软致动器制定统一命名方案：材料、工作原理和应用综述。

Robotics reports (New Rochelle, N.Y.) Pub Date : 2024-01-01 Epub Date: 2024-01-18 DOI: 10.1089/rorep.2023.0023

Trevor Exley, Emilly Hays, Daniel Johnson, Arian Moridani, Ramya Motati, Amir Jafari

{"title":"Toward a Unified Naming Scheme for Thermo-Active Soft Actuators: A Review of Materials, Working Principles, and Applications.","authors":"Trevor Exley, Emilly Hays, Daniel Johnson, Arian Moridani, Ramya Motati, Amir Jafari","doi":"10.1089/rorep.2023.0023","DOIUrl":"https://doi.org/10.1089/rorep.2023.0023","url":null,"abstract":"Soft robotics is a rapidly growing field that spans the fields of chemistry, materials science, and engineering. Due to the diverse background of the field, there have been contrasting naming schemes such as \"intelligent,\" \"smart,\" and \"adaptive\" materials, which add vagueness to the broad innovation among literature. Therefore, a clear, functional, and descriptive naming scheme is proposed in which a previously vague name-Soft Material for Soft Actuators-can remain clear and concise-Phase-Change Elastomers for Artificial Muscles. By synthesizing the working principle, material, and application into a naming scheme, the searchability of soft robotics can be enhanced and applied to other fields. The field of thermo-active soft actuators spans multiple domains and requires added clarity. Thermo-active actuators have potential for a variety of applications spanning virtual reality haptics to assistive devices. This review offers a comprehensive guide to selecting the type of thermo-active actuator when one has an application in mind. In addition, it discusses future directions and improvements that are necessary for implementation.","PeriodicalId":519886,"journal":{"name":"Robotics reports (New Rochelle, N.Y.)","volume":"2 1","pages":"15-28"},"PeriodicalIF":0.0,"publicationDate":"2024-01-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"https://www.ncbi.nlm.nih.gov/pmc/articles/PMC10996867/pdf/","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"140865008","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"OA","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}

引用次数: 0