Soft robotics最新文献_第7页

Design and Analysis of Reconfigurable Origami-Based Vacuum Pneumatic Artificial Muscles for Versatile Robotic System. 用于多功能机器人系统的可重构折纸真空气动人工肌肉的设计与分析

Soft robotics Pub Date : 2024-12-01 Epub Date: 2024-04-26 DOI: 10.1089/soro.2023.0050

Jin-Gyu Lee, Hugo Rodrigue

{"title":"Design and Analysis of Reconfigurable Origami-Based Vacuum Pneumatic Artificial Muscles for Versatile Robotic System.","authors":"Jin-Gyu Lee, Hugo Rodrigue","doi":"10.1089/soro.2023.0050","DOIUrl":"10.1089/soro.2023.0050","url":null,"abstract":"In this study, a vacuum-based modular actuator system named reconfigurable origami-based vacuum pneumatic artificial muscles (ROV-PAMs) is presented. The system consists of six types of actuating modules and three types of fluidic supporting modules each embedded with magnet-based connectors so that the modules can be assembled to modify the system behavior. The module can be used in a myriad of ways, including extending their working range, creating complex geometries upon deformation, and cooperating to improve overall performance. A simple analytical model for the actuating modules is derived based on the law of conservation of energy, and the model is verified experimentally which shows that this intuitive model can provide a reasonable prediction of performance. A block sorting robot is built using three different types of actuating modules with multiple fluidic supporting modules, and the robot shows that it is possible to flexibly and easily assemble modules to build a robot capable of completing diverse tasks. The ROV-PAM module and its concept can be applied to realize robotic designs, which can be altered on-the-fly to adjust its functionality to meet the evolving requirements required for truly flexible automation.","PeriodicalId":94210,"journal":{"name":"Soft robotics","volume":" ","pages":"984-993"},"PeriodicalIF":0.0,"publicationDate":"2024-12-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"140862198","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}

引用次数: 0

Unlocking Versatility: Magnetic-Actuated Deployable Suction Gripper for Complex Surface Handling. 释放多功能性：用于复杂表面处理的磁动可展开吸力夹具。

Soft robotics Pub Date : 2024-12-01 Epub Date: 2024-06-05 DOI: 10.1089/soro.2023.0250

Vera G Kortman, Ellen de Vries, Jovana Jovanova, Aimée Sakes

{"title":"Unlocking Versatility: Magnetic-Actuated Deployable Suction Gripper for Complex Surface Handling.","authors":"Vera G Kortman, Ellen de Vries, Jovana Jovanova, Aimée Sakes","doi":"10.1089/soro.2023.0250","DOIUrl":"10.1089/soro.2023.0250","url":null,"abstract":"Suction grippers offer a distinct advantage in their ability to handle a wide range of items. However, attaching these grippers to irregular and rough surfaces presents an ongoing challenge. To address this obstacle, this study explores the integration of magnetic intelligence into a soft suction gripper design, enabling fast external magnetic actuation of the attachment process. Additionally, miniaturization options are enhanced by implementing a compliant deploying mechanism. The resulting design is the first-of-its-kind magnetically-actuated deployable suction gripper featuring a thin magnetic membrane (Ø 50 mm) composed of carbonyl iron particles embedded in a silicone matrix. This membrane is supported by a frame made of superelastic nitinol wires that facilitate deployment. During experiments, the proof-of-principle prototype demonstrates successful attachment on a diverse range of curved surfaces in both dry and wet environments. The gripper achieves attachment on curved surfaces with radii of 50-75 mm, exerting a maximum attachment force of 2.89 ± 0.54 N. The current gripper design achieves a folding percentage of 75%, enabling it to fit into a Ø 12.5 mm tube and access hard-to-reach areas while maintaining sufficient surface area for attachment forces. The proposed prototype serves as a foundational steppingstone for further research in the development of reliable and effective magnetically-actuated suction grippers across various configurations. By addressing the limitations of attachment to irregular surfaces and exploring possibilities for miniaturization and precise control, this study opens new avenues for the practical application of suction grippers in diverse industries and scenarios.","PeriodicalId":94210,"journal":{"name":"Soft robotics","volume":" ","pages":"1020-1031"},"PeriodicalIF":0.0,"publicationDate":"2024-12-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"141249285","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}

引用次数: 0

Biomimetic Octopus Suction Cup with Attachment Force Self-Sensing Capability for Cardiac Adhesion. 具有附着力自感应功能的仿生章鱼吸盘用于心脏粘附。

Soft robotics Pub Date : 2024-12-01 Epub Date: 2024-07-09 DOI: 10.1089/soro.2023.0208

Ziwei Wang, Guangkai Sun, Xinwei Fan, Peng Xiao, Lianqing Zhu

{"title":"Biomimetic Octopus Suction Cup with Attachment Force Self-Sensing Capability for Cardiac Adhesion.","authors":"Ziwei Wang, Guangkai Sun, Xinwei Fan, Peng Xiao, Lianqing Zhu","doi":"10.1089/soro.2023.0208","DOIUrl":"10.1089/soro.2023.0208","url":null,"abstract":"This study develops a biomimetic soft octopus suction device with integrated self-sensing capabilities designed to enhance the precision and safety of cardiac surgeries. The device draws inspiration from the octopus's exceptional ability to adhere to various surfaces and its sophisticated proprioceptive system, allowing for real-time adjustment of adhesive force. The research integrates thin-film pressure sensors into the soft suction cup design, emulating the tactile capabilities of an octopus's sucker to convey information about the contact environment in real time. Signals from sensors within soft materials exhibiting complex strain characteristics are processed and interpreted using the grey wolf optimizer-back propagation (GWO-BP) algorithm. The tissue stabilizer is endowed with the self-sensing capabilities of biomimetic octopus suckers, and real-time feedback on the adhesion state is provided. The embedding location of the thin-film pressure sensors is determined through foundational experiments with flexible substrates, standard spherical tests, and biological tissue trials. The newly fabricated suction cups undergo compression pull-off tests to collect data. The GWO-BP algorithm model accurately identifies and predicts the suction cup's adhesion force in real time, with an error rate below 0.97% and a mean prediction time of 0.0027 s. Integrating this technology offers a novel approach to intelligent monitoring and attachment assurance during cardiac surgeries. Hence, the probability of potential cardiac tissue damage is reduced, with future applications for integrating intelligent biomimetic adhesive soft robotics.","PeriodicalId":94210,"journal":{"name":"Soft robotics","volume":" ","pages":"1043-1054"},"PeriodicalIF":0.0,"publicationDate":"2024-12-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"141560665","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}

引用次数: 0

Perceptually Inspired C⁰-Continuity Haptic Shape Display with Trichamber Soft Actuators. 使用三腔软致动器的感知启发式 C0-连续性触觉形状显示器

Soft robotics Pub Date : 2024-12-01 Epub Date: 2024-05-02 DOI: 10.1089/soro.2023.0148

Zemin Wang, Yan Zhang, Dongjie Zhao, Ruibo He, Yuru Zhang, Dangxiao Wang

{"title":"Perceptually Inspired C0-Continuity Haptic Shape Display with Trichamber Soft Actuators.","authors":"Zemin Wang, Yan Zhang, Dongjie Zhao, Ruibo He, Yuru Zhang, Dangxiao Wang","doi":"10.1089/soro.2023.0148","DOIUrl":"10.1089/soro.2023.0148","url":null,"abstract":"Shape display devices composed of actuation pixels enable dynamic rendering of surface morphological features, which have important roles in virtual reality and metaverse applications. The traditional pin-array solution produces sidestep-like structures between neighboring pins and normally relies on high-density pins to obtain curved surfaces. It remains a challenge to achieve continuous curved surfaces using a small number of actuated units. To address the challenge, we resort to the concept of surface continuity in computational geometry and develop a C0-continuity shape display device with trichamber fiber-reinforced soft actuators. Each trichamber unit produces three-dimensional (3D) deformation consisting of elongation, pitch, and yaw rotation, thus ensuring rendered surface continuity using low-resolution actuation units. Inspired by human tactile discrimination threshold on height and angle gradients between adjacent units, we proposed the mathematical criteria of C0-continuity shape display and compared the maximal number of distinguishable shapes using the proposed device in comparison with typical pin-array. We then established a shape control model considering the nonlinearity of soft materials to characterize and control the soft device to display C0-continuity shapes. Experimental results showed that the proposed device with nine trichamber units could render typical sets of distinguishable C0-continuity shape sequence changes. We envision that the concept of C0-continuity shape display with 3D deformation capability could improve the fidelity of the rendered shapes in many metaverse scenarios such as touching human organs in medical palpation simulations.","PeriodicalId":94210,"journal":{"name":"Soft robotics","volume":" ","pages":"958-969"},"PeriodicalIF":0.0,"publicationDate":"2024-12-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"140873594","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}

引用次数: 0

How Do Combustions Actuate High-Speed Soft Robots? 燃烧如何驱动高速软体机器人？

Soft robotics Pub Date : 2024-12-01 Epub Date: 2024-07-27 DOI: 10.1089/soro.2023.0168

Yang Yang, Hongliang Ren, Pengcheng Jiao, Zhiguo He

引用次数: 0

Magnetic Soft Catheter Robot System for Minimally Invasive Treatments of Articular Cartilage Defects. 用于微创治疗关节软骨缺损的磁性软导管机器人系统

Soft robotics Pub Date : 2024-12-01 Epub Date: 2024-05-30 DOI: 10.1089/soro.2023.0157

Jiarong Hu, Yufei Hou, Gu Wangxie, Songyu Hu, An Liu, Wushi Cui, Weinan Yang, Yong He, Jianzhong Fu

{"title":"Magnetic Soft Catheter Robot System for Minimally Invasive Treatments of Articular Cartilage Defects.","authors":"Jiarong Hu, Yufei Hou, Gu Wangxie, Songyu Hu, An Liu, Wushi Cui, Weinan Yang, Yong He, Jianzhong Fu","doi":"10.1089/soro.2023.0157","DOIUrl":"10.1089/soro.2023.0157","url":null,"abstract":"Articular cartilage defects are among the most common orthopedic diseases, which seriously affect patients' health and daily activities, without prompt treatment. The repair biocarrier-based treatment has shown great promise. Total joint injection and open surgery are two main methods to deliver functional repair biocarriers into the knee joint. However, the exhibited drawbacks of these methods hinder their utility. The repair effect of total joint injection is unstable due to the low targeting rate of the repair biocarriers, whereas open surgery causes serious trauma to patients, thereby prolonging the postoperative healing time. In this study, we develop a magnetic soft catheter robot (MSCR) system to perform precise in situ repair of articular cartilage defects with minimal incision. The MSCR processes a size of millimeters, allowing it to enter the joint cavity through a tiny skin incision to reduce postoperative trauma. Meanwhile, a hybrid control strategy combining neural network and visual servo is applied to sequentially complete the coarse and fine positioning of the MSCR on the cartilage defect sites. After reaching the target, the photosensitive hydrogel is injected and anchored into the defect sites through the MSCR, ultimately completing the in situ cartilage repair. The in vitro and ex vivo experiments were conducted on a 3D printed human femur model and an isolated porcine femur, respectively, to demonstrate the potential of our system for the articular cartilage repair.","PeriodicalId":94210,"journal":{"name":"Soft robotics","volume":" ","pages":"1032-1042"},"PeriodicalIF":0.0,"publicationDate":"2024-12-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"141176892","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}

引用次数: 0

A Controllable Nonlinear Bistable "Fishtail" Boosting Robotic Swimmer with Excellent Maneuverability and High Energy Efficiency. 具有出色操纵性和高能效的可控非线性双稳态 "鱼尾 "助推机器人游泳器

Soft robotics Pub Date : 2024-11-28 DOI: 10.1089/soro.2024.0038

Xu Chao, Imran Hameed, David Navarro-Alarcon, Xingjian Jing

{"title":"A Controllable Nonlinear Bistable \"Fishtail\" Boosting Robotic Swimmer with Excellent Maneuverability and High Energy Efficiency.","authors":"Xu Chao, Imran Hameed, David Navarro-Alarcon, Xingjian Jing","doi":"10.1089/soro.2024.0038","DOIUrl":"https://doi.org/10.1089/soro.2024.0038","url":null,"abstract":"High maneuverability and energy efficiency are crucial for underwater robots to perform tasks in engineering practice. Natural evolution empowers aquatic species with skills of agile and efficient swimming, which can be deliberately employed for better robotic swimmers. A critical issue for efficient robotic swimmers is the design and control of an appropriate propulsion system. This study, therefore, presents a completely different realization of a highly flexible and controllable bistable nonlinear mechanism as a \"fishtail.\" The mechanism combines an elastic spine and a lightweight parallel linkage mechanism. Through active control of the endpoint of the elastic spine, the compliant tail can be empowered with exceptional controllability and tunable bistability for a much more efficient and also the first-ever accurately controlled bistable elastic propulsion system. Experimental results demonstrate that the new bistable fishtail can achieve a faster speed of its size (up to an average speed of 0.8 m·s-1) with an associated higher energy efficiency (corresponding cost of transport as low as 9 J·m-1·kg-1), and greater maneuverability (with an average turning speed of up to 107°/s at a much smaller turning radius of 0.31 body length). This study will definitely provide an efficient controllable and feasible approach to the design of nonlinear compliant propulsion systems for underwater vehicles by exploring nonlinear dynamics.","PeriodicalId":94210,"journal":{"name":"Soft robotics","volume":" ","pages":""},"PeriodicalIF":0.0,"publicationDate":"2024-11-28","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"142740549","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}

引用次数: 0

Fin-Bayes: A Multi-Objective Bayesian Optimization Framework for Soft Robotic Fingers. Fin-Bayes：软机器人手指的多目标贝叶斯优化框架。

Soft robotics Pub Date : 2024-10-01 Epub Date: 2024-03-18 DOI: 10.1089/soro.2023.0134

Xing Wang, Bing Wang, Joshua Pinskier, Yue Xie, James Brett, Richard Scalzo, David Howard

{"title":"Fin-Bayes: A Multi-Objective Bayesian Optimization Framework for Soft Robotic Fingers.","authors":"Xing Wang, Bing Wang, Joshua Pinskier, Yue Xie, James Brett, Richard Scalzo, David Howard","doi":"10.1089/soro.2023.0134","DOIUrl":"10.1089/soro.2023.0134","url":null,"abstract":"Computational design is a critical tool to realize the full potential of Soft Robotics, maximizing their inherent benefits of high performance, flexibility, robustness, and safe interaction. Practically, computational design entails a rapid iterative search process over a parameterized design space, with assessment using (frequently) computational modeling and (more rarely) physical experimentation. Bayesian approaches work well for these expensive-to-analyze systems and can lead to efficient exploration of design space than comparative algorithms. However, such computational design typically entails weaknesses related to a lack of fidelity in assessment, a lack of sufficient iterations, and/or optimizing to a singular objective function. Our work directly addresses these shortcomings. First, we harness a sophisticated nonlinear Finite Element Modeling suite that explicitly considers geometry, material, and contact nonlinearity to perform rapid accurate characterization. We validate this through extensive physical testing using an automated test rig and printed robotic fingers, providing far more experimental data than that reported in the literature. Second, we explore a significantly larger design space than comparative approaches, with more free variables and more opportunity to discover novel, high performance designs. Finally, we use a multiobjective Bayesian optimizer that allows for the identification of promising trade-offs between two critical objectives, compliance and contact force. We test our framework on optimizing Fin Ray grippers, which are ubiquitous throughout research and industry due to their passive compliance and durability. Results demonstrate the benefits of our approach, allowing for the optimization and identification of promising gripper designs within an extensive design space, which are then 3D printed and usable in reality.","PeriodicalId":94210,"journal":{"name":"Soft robotics","volume":" ","pages":"791-801"},"PeriodicalIF":0.0,"publicationDate":"2024-10-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"140144963","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}

引用次数: 0

From Skin Movement to Wearable Robotics: The Case of Robotic Gloves. 从皮肤运动到可穿戴机器人技术：机器人手套案例。

Soft robotics Pub Date : 2024-10-01 Epub Date: 2024-01-18 DOI: 10.1089/soro.2023.0115

Hao Liu, Changchun Wu, Senyuan Lin, Ning Xi, Vivian W Q Lou, Yong Hu, Calvin K L Or, Yonghua Chen

{"title":"From Skin Movement to Wearable Robotics: The Case of Robotic Gloves.","authors":"Hao Liu, Changchun Wu, Senyuan Lin, Ning Xi, Vivian W Q Lou, Yong Hu, Calvin K L Or, Yonghua Chen","doi":"10.1089/soro.2023.0115","DOIUrl":"10.1089/soro.2023.0115","url":null,"abstract":"Previous research on wearable robotics focused on developing actuation mechanisms while overlooking influences of skin movement. During finger flexion, skins on the opisthenar and finger back are stretched. Impeding such skin movement will obstruct normal finger motions. In this research, a statistical study on skin movement is proposed and conducted to quantify skin movement on human hands. Results of 30 subjects (15 men and 15 women) reveal that skin at the finger back extends by an average of 29.3 ± 7.2% in fist clenching. Based on this study, design guidelines for robotic gloves are proposed, and nominal strain values at different hand regions are tabulated for references in robotic glove design. To explore the influence of skin movement on wearable robotics, an elastomer-constrained flat tube actuator is proposed based on which two prototype robotic gloves are developed: one with an ergonomic strap interface that has small constraint to skin motion, and the other based on the commonly used fabric glove that is supposed to have large constraint to skin motion. With the same power input to the robotic gloves, the strap-based design achieves a finger motion range of 2.5 times and a gripping force of 4.3 times that of the conventional fabric glove.","PeriodicalId":94210,"journal":{"name":"Soft robotics","volume":" ","pages":"755-766"},"PeriodicalIF":0.0,"publicationDate":"2024-10-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"139492935","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}

引用次数: 0

Learning-Based Control for Soft Robot-Environment Interaction with Force/Position Tracking Capability. 具有力/位置跟踪能力的基于学习的软机器人与环境交互控制。

Soft robotics Pub Date : 2024-10-01 Epub Date: 2024-02-20 DOI: 10.1089/soro.2023.0116

Zhiqiang Tang, Wenci Xin, Peiyi Wang, Cecilia Laschi

{"title":"Learning-Based Control for Soft Robot-Environment Interaction with Force/Position Tracking Capability.","authors":"Zhiqiang Tang, Wenci Xin, Peiyi Wang, Cecilia Laschi","doi":"10.1089/soro.2023.0116","DOIUrl":"10.1089/soro.2023.0116","url":null,"abstract":"Soft robotics promises to achieve safe and efficient interactions with the environment by exploiting its inherent compliance and designing control strategies. However, effective control for the soft robot-environment interaction has been a challenging task. The challenges arise from the nonlinearity and complexity of soft robot dynamics, especially in situations where the environment is unknown and uncertainties exist, making it difficult to establish analytical models. In this study, we propose a learning-based optimal control approach as an attempt to address these challenges, which is an optimized combination of a feedforward controller based on probabilistic model predictive control and a feedback controller based on nonparametric learning methods. The approach is purely data-driven, without prior knowledge of soft robot dynamics and environment structures, and can be easily updated online to adapt to unknown environments. A theoretical analysis of the approach is provided to ensure its stability and convergence. The proposed approach enabled a soft robotic manipulator to track target positions and forces when interacting with a manikin in different cases. Moreover, comparisons with other data-driven control methods show a better performance of our approach. Overall, this work provides a viable learning-based control approach for soft robot-environment interactions with force/position tracking capability.","PeriodicalId":94210,"journal":{"name":"Soft robotics","volume":" ","pages":"767-778"},"PeriodicalIF":0.0,"publicationDate":"2024-10-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"139934897","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}

引用次数: 0