Journal of Bionic Engineering最新文献_第3页

A Soft Robotic Fish Actuated by Artificial Muscle Modules (SoRoFAAM-1) 由人工肌肉模块驱动的软体机器鱼(SoRoFAAM-1)

IF 4 3区计算机科学

Journal of Bionic Engineering Pub Date : 2023-07-24 DOI: 10.1007/s42235-023-00390-6

Moise Raphael Tsimbo Fokou, Qirong Xia, Hu Jin, Min Xu, Erbao Dong

{"title":"A Soft Robotic Fish Actuated by Artificial Muscle Modules (SoRoFAAM-1)","authors":"Moise Raphael Tsimbo Fokou, Qirong Xia, Hu Jin, Min Xu, Erbao Dong","doi":"10.1007/s42235-023-00390-6","DOIUrl":"10.1007/s42235-023-00390-6","url":null,"abstract":"<div><p>In this paper, we present the design, fabrication, locomotion and bionic analysis of a Soft Robotic Fish Actuated by Artificial Muscle (SoRoFAAM). As a carangiform swimmer, the most important part of SoRoFAAM-1, on the motion point of view, is its tail designed around a bidirectional flexible bending actuator by layered bonding technology. This actuator is made of two artificial muscle modules based on Shape Memory Alloy (SMA) wires. Each artificial muscle module has four independent SMA-wire channels and is therefore capable of producing four different actuations. This design allows us to implement an adaptive regulated control strategy based on resistance feedback of the SMA wires to prevent them from overheating. To improve the actuation frequency to 2 Hz and the heat-dissipation ratio by 60%, we developed a round-robin heating strategy. Furthermore, the thermomechanical model of actuator is built, and the thermal transformation is analysed. The relationships between the actuation parameters and SoRoFAAM-1’s kinematic parameters are analysed. The versatility of the actuator endows SoRoFAAM-1 with cruise straight and turning abilities. Moreover, SoRoFAAM-1 has a good bionic fidelity; in particular, a maneuverability of 0.15, a head swing factor of 0.38 and a Strouhal number of 0.61.</p></div>","PeriodicalId":614,"journal":{"name":"Journal of Bionic Engineering","volume":"20 5","pages":"2030 - 2043"},"PeriodicalIF":4.0,"publicationDate":"2023-07-24","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"https://link.springer.com/content/pdf/10.1007/s42235-023-00390-6.pdf","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"4938437","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":3,"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: 0

Metal-Doped Brushite Cement for Bone Regeneration 金属掺杂刷石水泥骨再生研究

IF 4 3区计算机科学

Journal of Bionic Engineering Pub Date : 2023-07-24 DOI: 10.1007/s42235-023-00409-y

Muhammad Aqib, Aneela Anwar, Humayun Ajaz, Samina Akbar, Ahsan Manzoor, Maham Abid, Zohaib Waheed, Qudsia Kanwal

{"title":"Metal-Doped Brushite Cement for Bone Regeneration","authors":"Muhammad Aqib, Aneela Anwar, Humayun Ajaz, Samina Akbar, Ahsan Manzoor, Maham Abid, Zohaib Waheed, Qudsia Kanwal","doi":"10.1007/s42235-023-00409-y","DOIUrl":"10.1007/s42235-023-00409-y","url":null,"abstract":"<div><p>For the past several years, calcium phosphate cement was used in the biomedical applications. Outstanding biocompatibility, good bioactivity, self-setting qualities, minimum setting degree, appropriate toughness, and simple shape to accommodate any difficult geometry are among their most notable attributes. Calcium phosphate has some types and brushite is one of the most attractive mineral for bone repair application. Brushite is extensively employed in filling fractures and trauma treatments as a bone substituted material. This kind of material can potentially be used as a medicine delivery device. The replacement of metal, such as magnesium, zinc, and strontium ions, into the calcium phosphate structure is a major research topic these days. Brushite cement has low mechanical strength and quick setting rate. It is possible to produce biomaterials with higher mechanical characteristics. By adding metal that are great potential in controlling cellular density when included into biomaterials. As a result, it is a successful method to develop quite well regenerative medicine. This paper provides a detailed summary of the present achievements of metal-doped brushite cement for bone repair and healing process. The major purpose of this work is to give a simple but thorough analysis of current successes in brushite cement doped with Zn, Mg, Sr, and other ions as well as to highlight new advancements and prospects. The impact of metal replacement on cement physical and chemical properties, including microstructure, setting time, injectability, mechanical property, and ion release, is explored. The metal-doped cement has osteogenesis, angiogenesis, and antibacterial properties, as well as their prospective utility as drug carriers, also considered.</p></div>","PeriodicalId":614,"journal":{"name":"Journal of Bionic Engineering","volume":"20 6","pages":"2716 - 2731"},"PeriodicalIF":4.0,"publicationDate":"2023-07-24","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"45879488","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":3,"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

Recent Advances of Chimp Optimization Algorithm: Variants and Applications 黑猩猩优化算法的新进展:变体及其应用

IF 4 3区计算机科学

Journal of Bionic Engineering Pub Date : 2023-07-24 DOI: 10.1007/s42235-023-00414-1

Mohammad Sh. Daoud, Mohammad Shehab, Laith Abualigah, Mohammad Alshinwan, Mohamed Abd Elaziz, Mohd Khaled Yousef Shambour, Diego Oliva, Mohammad A. Alia, Raed Abu Zitar

{"title":"Recent Advances of Chimp Optimization Algorithm: Variants and Applications","authors":"Mohammad Sh. Daoud, Mohammad Shehab, Laith Abualigah, Mohammad Alshinwan, Mohamed Abd Elaziz, Mohd Khaled Yousef Shambour, Diego Oliva, Mohammad A. Alia, Raed Abu Zitar","doi":"10.1007/s42235-023-00414-1","DOIUrl":"10.1007/s42235-023-00414-1","url":null,"abstract":"<div><p>Chimp Optimization Algorithm (ChOA) is one of the recent metaheuristics swarm intelligence methods. It has been widely tailored for a wide variety of optimization problems due to its impressive characteristics over other swarm intelligence methods: it has very few parameters, and no derivation information is required in the initial search. Also, it is simple, easy to use, flexible, scalable, and has a special capability to strike the right balance between exploration and exploitation during the search which leads to favorable convergence. Therefore, the ChOA has recently gained a very big research interest with tremendous audiences from several domains in a very short time. Thus, in this review paper, several research publications using ChOA have been overviewed and summarized. Initially, introductory information about ChOA is provided which illustrates the natural foundation context and its related optimization conceptual framework. The main operations of ChOA are procedurally discussed, and the theoretical foundation is described. Furthermore, the recent versions of ChOA are discussed in detail which are categorized into modified, hybridized, and paralleled versions. The main applications of ChOA are also thoroughly described. The applications belong to the domains of economics, image processing, engineering, neural network, power and energy, networks, etc. Evaluation of ChOA is also provided. The review paper will be helpful for the researchers and practitioners of ChOA belonging to a wide range of audiences from the domains of optimization, engineering, medical, data mining, and clustering. As well, it is wealthy in research on health, environment, and public safety. Also, it will aid those who are interested by providing them with potential future research.</p></div>","PeriodicalId":614,"journal":{"name":"Journal of Bionic Engineering","volume":"20 6","pages":"2840 - 2862"},"PeriodicalIF":4.0,"publicationDate":"2023-07-24","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"43852278","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":3,"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

A Bionic Stick–Slip Piezo-Driven Positioning Platform Designed by Imitating the Structure and Movement of the Crab 仿螃蟹结构和运动设计的仿生粘滑压电定位平台

IF 4 3区计算机科学

Journal of Bionic Engineering Pub Date : 2023-07-24 DOI: 10.1007/s42235-023-00411-4

Zhixin Yang, Xuan Li, Jinyan Tang, Hu Huang, Hongwei Zhao, Yiming Cheng, Shiwei Liu, Chunyu Li, Maoji Xiong

{"title":"A Bionic Stick–Slip Piezo-Driven Positioning Platform Designed by Imitating the Structure and Movement of the Crab","authors":"Zhixin Yang, Xuan Li, Jinyan Tang, Hu Huang, Hongwei Zhao, Yiming Cheng, Shiwei Liu, Chunyu Li, Maoji Xiong","doi":"10.1007/s42235-023-00411-4","DOIUrl":"10.1007/s42235-023-00411-4","url":null,"abstract":"<div><p>By imitating the body structure and movement mode of the crab in nature, a novel stick–slip piezo-driven positioning platform was proposed by employing the bionic flexible hinge mechanism with a symmetrical structure and two piezoelectric stacks. The structural design and bionic motion principle were discussed, followed by analyzing the feasibility, safety, and output magnification ratio of the bionic flexible hinge mechanism via the stiffness matrix method and finite element simulation. To investigate the output performances of the positioning platform, a prototype was fabricated and an experiment system was established. Stepping characteristics of the positioning platform under various driving voltages were characterized, and the results indicated that the positioning platform could move steadily under various driving voltages. Within 1 s, the differences between the forward and reverse output displacement were less than 3% under different driving frequencies, proving the high bidirectional motion symmetry. The maximum driving speed of 5.44 mm/s was obtained under the driving voltage of 120 V and driving frequency of 5 Hz. In addition, the carrying load capacity of the positioning platform was tested by standard weights, and the results showed that when the carrying load reached 10 N, the driving speed could still reach 60 μm/s.</p></div>","PeriodicalId":614,"journal":{"name":"Journal of Bionic Engineering","volume":"20 6","pages":"2590 - 2600"},"PeriodicalIF":4.0,"publicationDate":"2023-07-24","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"49521812","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":3,"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

A New EMG Decomposition Framework for Upper Limb Prosthetic Systems 一种新的上肢假肢系统肌电分解框架

IF 4 3区计算机科学

Journal of Bionic Engineering Pub Date : 2023-07-06 DOI: 10.1007/s42235-023-00407-0

Wenhao Wu, Li Jiang, Bangchu Yang, Kening Gong, Chunhao Peng, Tianbao He

{"title":"A New EMG Decomposition Framework for Upper Limb Prosthetic Systems","authors":"Wenhao Wu, Li Jiang, Bangchu Yang, Kening Gong, Chunhao Peng, Tianbao He","doi":"10.1007/s42235-023-00407-0","DOIUrl":"10.1007/s42235-023-00407-0","url":null,"abstract":"<div><p>Neural interfaces based on surface Electromyography (EMG) decomposition have been widely used in upper limb prosthetic systems. In the current EMG decomposition framework, most Blind Source Separation (BSS) algorithms require EMG with a large number of channels (generally larger than 64) as input, while users of prosthetic limbs can generally only provide less skin surface for electrode placement than healthy people. We performed decomposition tests to demonstrate the performance of the new framework with the simulated EMG signal. The results show that the new framework identified more Motor Units (MUs) compared to the control group and it is suitable for decomposing EMG signals with low channel numbers. In order to verify the application value of the new framework in the upper limb prosthesis system, we tested its performance in decomposing experimental EMG signals in force fitting experiments as well as pattern recognition experiments. The average Pearson coefficient between the fitted finger forces and the ground truth forces is 0.9079 and the average accuracy of gesture classification is 95.11%. The results show that the decomposition results obtained by the new framework can be used in the control of the upper limb prosthesis while only requiring EMG signals with fewer channels.</p></div>","PeriodicalId":614,"journal":{"name":"Journal of Bionic Engineering","volume":"20 6","pages":"2646 - 2660"},"PeriodicalIF":4.0,"publicationDate":"2023-07-06","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"43623938","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":3,"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

Posture Control of Legged Locomotion Based on Virtual Pivot Point Concept 基于虚拟枢轴点概念的腿部运动姿态控制

IF 4 3区计算机科学

Journal of Bionic Engineering Pub Date : 2023-07-05 DOI: 10.1007/s42235-023-00410-5

Hao Sun, Junjie Yang, Yinghao Jia, Changhong Wang

{"title":"Posture Control of Legged Locomotion Based on Virtual Pivot Point Concept","authors":"Hao Sun, Junjie Yang, Yinghao Jia, Changhong Wang","doi":"10.1007/s42235-023-00410-5","DOIUrl":"10.1007/s42235-023-00410-5","url":null,"abstract":"<div><p>This paper presents a novel control approach for achieving robust posture control in legged locomotion, specifically for SLIP-like bipedal running and quadrupedal bounding with trunk stabilization. The approach is based on the virtual pendulum concept observed in human and animal locomotion experiments, which redirects ground reaction forces to a virtual support point called the Virtual Pivot Point (VPP) during the stance phase. Using the hybrid averaging theorem, we prove the upright posture stability of bipedal running with a fixed VPP position and propose a VPP angle feedback controller for online VPP adjustment to improve performance and convergence speed. Additionally, we present the first application of the VPP concept to quadrupedal posture control and design a VPP position feedback control law to enhance robustness in quadrupedal bounding. We evaluate the effectiveness of the proposed VPP-based controllers through various simulations, demonstrating their effectiveness in posture control of both bipedal running and quadrupedal bounding. The performance of the VPP-based control approach is further validated through experimental validation on a quadruped robot, SCIT Dog, for stable bounding motion generation at different forward speeds.</p></div>","PeriodicalId":614,"journal":{"name":"Journal of Bionic Engineering","volume":"20 6","pages":"2683 - 2702"},"PeriodicalIF":4.0,"publicationDate":"2023-07-05","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"47607033","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":3,"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

Comprehensive Learning Strategy Enhanced Chaotic Whale Optimization for High-dimensional Feature Selection 用于高维特征选择的综合学习策略增强混沌鲸鱼优化

IF 4 3区计算机科学

Journal of Bionic Engineering Pub Date : 2023-07-04 DOI: 10.1007/s42235-023-00400-7

Hanjie Ma, Lei Xiao, Zhongyi Hu, Ali Asghar Heidari, Myriam Hadjouni, Hela Elmannai, Huiling Chen

{"title":"Comprehensive Learning Strategy Enhanced Chaotic Whale Optimization for High-dimensional Feature Selection","authors":"Hanjie Ma, Lei Xiao, Zhongyi Hu, Ali Asghar Heidari, Myriam Hadjouni, Hela Elmannai, Huiling Chen","doi":"10.1007/s42235-023-00400-7","DOIUrl":"10.1007/s42235-023-00400-7","url":null,"abstract":"<div><p>Feature selection (FS) is an adequate data pre-processing method that reduces the dimensionality of datasets and is used in bioinformatics, finance, and medicine. Traditional FS approaches, however, frequently struggle to identify the most important characteristics when dealing with high-dimensional information. To alleviate the imbalance of explore search ability and exploit search ability of the Whale Optimization Algorithm (WOA), we propose an enhanced WOA, namely SCLWOA, that incorporates sine chaos and comprehensive learning (CL) strategies. Among them, the CL mechanism contributes to improving the ability to explore. At the same time, the sine chaos is used to enhance the exploitation capacity and help the optimizer to gain a better initial solution. The hybrid performance of SCLWOA was evaluated comprehensively on IEEE CEC2017 test functions, including its qualitative analysis and comparisons with other optimizers. The results demonstrate that SCLWOA is superior to other algorithms in accuracy and converges faster than others. Besides, the variant of Binary SCLWOA (BSCLWOA) and other binary optimizers obtained by the mapping function was evaluated on 12 UCI data sets. Subsequently, BSCLWOA has proven very competitive in classification precision and feature reduction.</p></div>","PeriodicalId":614,"journal":{"name":"Journal of Bionic Engineering","volume":"20 6","pages":"2973 - 3007"},"PeriodicalIF":4.0,"publicationDate":"2023-07-04","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"47782150","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":3,"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

Study on the Vibration Reduction Characteristics of FWMAV Flexible Bionic Wings Mimicking the Hindwings of Trypoxylus dichotomus 仿二叉棘蝇后翅FWMAV柔性仿生翅膀减振特性研究

IF 4 3区计算机科学

Journal of Bionic Engineering Pub Date : 2023-07-04 DOI: 10.1007/s42235-023-00385-3

Yongwei Yan, Fa Song, Nuo Xu, Haochen Zhu, Hongxu Xing, Shujun Zhang, Jiyu Sun

{"title":"Study on the Vibration Reduction Characteristics of FWMAV Flexible Bionic Wings Mimicking the Hindwings of Trypoxylus dichotomus","authors":"Yongwei Yan, Fa Song, Nuo Xu, Haochen Zhu, Hongxu Xing, Shujun Zhang, Jiyu Sun","doi":"10.1007/s42235-023-00385-3","DOIUrl":"10.1007/s42235-023-00385-3","url":null,"abstract":"<div><p>Using the method of structural finite element topology optimization and analysis of the hindwings of <i>Trypoxylus dichotomus</i>, this work identified the main loading force transmission path and designed the initial structure of a bionic flexible wing. A structural design scheme of the vibration damping unit was proposed, and the structural mechanics and modal vibration characteristics were simulated and analyzed. 3D printing technology was used to manufacture the designed bionic wing skeleton, which was combined with two kinds of wing membrane materials. The Flapping Wing Micro-aerial Vehicle (FWMAV) transmission mechanism vibration characteristics were observed and analyzed by a high-speed digital camera. A triaxial force transducer was used to record the force vibration of the flexible bionic wing flapping in a wind tunnel. A wavelet processing method was used to process and analyze the force signal. The results showed that the force amplitude was more stable, the waveform roughness was the lowest, and the peak shaving phenomenon at the z-axis was the least obvious for the bionic flexible wing model that combined the topology-optimized bionic wing skeleton with a polyamide elastic membrane. This was determined to be the most suitable design scheme for the wings of FWMAVs.</p></div>","PeriodicalId":614,"journal":{"name":"Journal of Bionic Engineering","volume":"20 5","pages":"2179 - 2193"},"PeriodicalIF":4.0,"publicationDate":"2023-07-04","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"4165683","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":3,"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

Bionics-Inspired Structure Boosts Drag and Noise Reduction of Rotating Machinery 仿生学启发的结构提高了旋转机械的阻力和噪音降低

IF 4 3区计算机科学

Journal of Bionic Engineering Pub Date : 2023-06-30 DOI: 10.1007/s42235-023-00404-3

Shengnan Tang, Yong Zhu, Shouqi Yuan

{"title":"Bionics-Inspired Structure Boosts Drag and Noise Reduction of Rotating Machinery","authors":"Shengnan Tang, Yong Zhu, Shouqi Yuan","doi":"10.1007/s42235-023-00404-3","DOIUrl":"10.1007/s42235-023-00404-3","url":null,"abstract":"<div><p>As a global concern, environmental protection and energy conservation have attracted significant attention. Due to the large carbon emission of electricity, promoting green and low-carbon transformation of the power industry via the synergistic development of clean energy sources is essential. Rotating machinery plays a crucial role in pumped storage, hydropower generation, and nuclear power generation. Inspired by bionics, non-smooth features of creatures in nature have been introduced into the structure design of efficient rotating machines. First, the concept and classification of bionics are described. Then, the representative applications of non-smooth surface bionic structures in rotating machineries are systematically and comprehensively reviewed, such as groove structure, pit structure, and other non-smooth surfaces. Finally, conclusions are drawn and future directions are presented. The effective design of a bionic structure contributes toward noise reduction, drag reduction and efficiency improvement of rotating machineries. Green and ecological rotating machinery will remarkably reduce energy consumption and contribute to the realization of the “double carbon” goal.</p></div>","PeriodicalId":614,"journal":{"name":"Journal of Bionic Engineering","volume":"20 6","pages":"2797 - 2813"},"PeriodicalIF":4.0,"publicationDate":"2023-06-30","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"53335012","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":3,"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

Rigid-Soft Coupled Robotic Gripper for Adaptable Grasping 适应抓取的刚软耦合机器人夹具

IF 4 3区计算机科学

Journal of Bionic Engineering Pub Date : 2023-06-30 DOI: 10.1007/s42235-023-00405-2

Zhiyuan He, Binbin Lian, Yimin Song

{"title":"Rigid-Soft Coupled Robotic Gripper for Adaptable Grasping","authors":"Zhiyuan He, Binbin Lian, Yimin Song","doi":"10.1007/s42235-023-00405-2","DOIUrl":"10.1007/s42235-023-00405-2","url":null,"abstract":"<div><p>Inspired by the morphology of human fingers, this paper proposes an underactuated rigid-soft coupled robotic gripper whose finger is designed as the combination of a rigid skeleton and a soft tissue. Different from the current grippers who have multi-point contact or line contact with the target objects, the proposed robotic gripper enables surface contact and leads to flexible grasping and robust holding. The actuated mechanism, which is the palm of proposed gripper, is optimized for excellent operability based on a mathematical model. Soft material selection and rigid skeleton structure of fingers are then analyzed through a series of dynamic simulations by RecurDyn and Adams. After above design process including topology analysis, actuated mechanism optimization, soft material selection and rigid skeleton analysis, the rigid-soft coupled robotic gripper is fabricated via 3D printing. Finally, the grasping and holding capabilities are validated by experiments testing the stiffness of a single finger and the impact resistance of the gripper. Experimental results show that the proposed rigid-soft coupled robotic gripper can adapt to objects with different properties (shape, size, weight and softness) and hold them steadily. It confirms the feasibility of the design procedure, as well as the compliant and dexterous grasping capabilities of proposed rigid-soft coupled gripper.</p></div>","PeriodicalId":614,"journal":{"name":"Journal of Bionic Engineering","volume":"20 6","pages":"2601 - 2618"},"PeriodicalIF":4.0,"publicationDate":"2023-06-30","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"44261064","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":3,"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