Soft robotics最新文献_第8页

Soft Artificial Muscle Based on Pre-Detwinned Shape Memory Alloy Spring Actuator Achieving High Passive Assistive Torque for Wearable Robot. 基于预缠绕形状记忆合金弹簧致动器的软人工肌肉，为可穿戴机器人提供高被动辅助扭矩

Soft robotics Pub Date : 2024-10-01 Epub Date: 2024-02-06 DOI: 10.1089/soro.2023.0154

Jaeyeon Jeong, Minjae Cho, Ki-Uk Kyung

{"title":"Soft Artificial Muscle Based on Pre-Detwinned Shape Memory Alloy Spring Actuator Achieving High Passive Assistive Torque for Wearable Robot.","authors":"Jaeyeon Jeong, Minjae Cho, Ki-Uk Kyung","doi":"10.1089/soro.2023.0154","DOIUrl":"10.1089/soro.2023.0154","url":null,"abstract":"For designing the assistive wearable rehabilitation robots, it is challenging to design the robot as energy efficient because the actuators have to be capable of overcoming human loads such as gravity of the body and spastic torque continuously during the assistance. To address these challenges, we propose a novel design of soft artificial muscle that utilizes shape memory alloy (SMA) spring actuators with pre-detwinning process. The SMA spring was fabricated through a process called pre-detwinning, which enhances the linearity of the SMA spring in martensite phase and unpowered restoring force, which is called passive force. The fabricated SMA spring can contract >60%. Finally, the soft wearable robot that can assist not only the gravitational torque exerted on the elbow by passive force, but also the elbow movements with active force was designed with a soft artificial muscle. A soft artificial muscle consists of the bundles of pre-detwinned SMA springs integrated with the stretchable coolant vessel. The stiffness of the muscle was measured as 1125 N/m in martensite phase and 1732 N/m in austenite phase. In addition, the muscle showed great actuation frequency performances, the bandwidth of which was measured as 0.5 Hz. The proposed wearable mechanism can fully compensate the gravitational torque for all the angles in passive mode. In addition, the proposed mechanism can produce high torque up to 3.5 Nm and movements in active mode.","PeriodicalId":94210,"journal":{"name":"Soft robotics","volume":" ","pages":"835-844"},"PeriodicalIF":0.0,"publicationDate":"2024-10-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"139699197","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

Stiffness Change for Reconfiguration of Inflated Beam Robots. 重新配置充气梁机器人的刚度变化

Soft robotics Pub Date : 2024-10-01 Epub Date: 2024-04-29 DOI: 10.1089/soro.2023.0120

Brian H Do, Shuai Wu, Ruike Renee Zhao, Allison M Okamura

{"title":"Stiffness Change for Reconfiguration of Inflated Beam Robots.","authors":"Brian H Do, Shuai Wu, Ruike Renee Zhao, Allison M Okamura","doi":"10.1089/soro.2023.0120","DOIUrl":"10.1089/soro.2023.0120","url":null,"abstract":"Abstract Active control of the shape of soft robots is challenging. Despite having an infinite number of passive degrees of freedom (DOFs), soft robots typically only have a few actively controllable DOFs, limited by the number of degrees of actuation (DOAs). The complexity of actuators restricts the number of DOAs that can be incorporated into soft robots. Active shape control is further complicated by the buckling of soft robots under compressive forces; this is particularly challenging for compliant continuum robots due to their long aspect ratios. In this study, we show how variable stiffness enables shape control of soft robots by addressing these challenges. Dynamically changing the stiffness of sections along a compliant continuum robot selectively \"activates\" discrete joints. By changing which joints are activated, the output of a single actuator can be reconfigured to actively control many different joints, thus decoupling the number of controllable DOFs from the number of DOAs. We demonstrate embedded positive pressure layer jamming as a simple method for stiffness change in inflated beam robots, its compatibility with growing robots, and its use as an \"activating\" technology. We experimentally characterize the stiffness change in a growing inflated beam robot and present finite element models that serve as guides for robot design and fabrication. We fabricate a multisegment everting inflated beam robot and demonstrate how stiffness change is compatible with growth through tip eversion, enables an increase in workspace, and achieves new actuation patterns not possible without stiffening.","PeriodicalId":94210,"journal":{"name":"Soft robotics","volume":" ","pages":"779-790"},"PeriodicalIF":0.0,"publicationDate":"2024-10-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"140867978","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 Comparison of Pneumatic Actuators for Soft Growing Vine Robots. 用于软生长藤蔓机器人的气动致动器比较

Soft robotics Pub Date : 2024-10-01 Epub Date: 2024-05-07 DOI: 10.1089/soro.2023.0169

Alexander M Kübler, Cosima du Pasquier, Andrew Low, Betim Djambazi, Nicolas Aymon, Julian Förster, Nathaniel Agharese, Roland Siegwart, Allison M Okamura

{"title":"A Comparison of Pneumatic Actuators for Soft Growing Vine Robots.","authors":"Alexander M Kübler, Cosima du Pasquier, Andrew Low, Betim Djambazi, Nicolas Aymon, Julian Förster, Nathaniel Agharese, Roland Siegwart, Allison M Okamura","doi":"10.1089/soro.2023.0169","DOIUrl":"10.1089/soro.2023.0169","url":null,"abstract":"Soft pneumatic actuators are used to steer soft growing \"vine\" robots while being flexible enough to undergo the tip eversion required for growth. In this study, we compared the performance of three types of pneumatic actuators in terms of their ability to perform eversion, quasi-static bending, dynamic motion, and force output: the pouch motor, the cylindrical pneumatic artificial muscle (cPAM), and the fabric pneumatic artificial muscle (fPAM). The pouch motor is advantageous for prototyping owing to its simple manufacturing process. The cPAM exhibits superior bending behavior and produces the highest forces, whereas the fPAM actuates fastest and everts at the lowest pressure. We evaluated a range of dimensions for each actuator type. Larger actuators can produce more significant deformations and forces, but smaller actuators inflate faster and can evert at a lower pressure. Because vine robots are lightweight, the effect of gravity on the functionality of different actuators is minimal. We developed a new analytical model that predicts the pressure-to-bending behavior of vine robot actuators. Using the actuator results, we designed and demonstrated a 4.8 m long vine robot equipped with highly maneuverable 60 × 60 mm cPAMs in a three-dimensional obstacle course. The vine robot was able to move around sharp turns, travel through a passage smaller than its diameter, and lift itself against gravity.","PeriodicalId":94210,"journal":{"name":"Soft robotics","volume":" ","pages":"857-868"},"PeriodicalIF":0.0,"publicationDate":"2024-10-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"140892993","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

Real-Time Shape Estimation of Hyper-Redundant Flexible Manipulator Using Coiled Fiber Sensors. 利用盘绕纤维传感器实时估计超冗余柔性机械手的形状

Soft robotics Pub Date : 2024-10-01 Epub Date: 2024-05-14 DOI: 10.1089/soro.2023.0153

Yesung Yi, Jung-Hwan Youn, Ji-Sung Kim, Dong-Soo Kwon, Ki-Uk Kyung

{"title":"Real-Time Shape Estimation of Hyper-Redundant Flexible Manipulator Using Coiled Fiber Sensors.","authors":"Yesung Yi, Jung-Hwan Youn, Ji-Sung Kim, Dong-Soo Kwon, Ki-Uk Kyung","doi":"10.1089/soro.2023.0153","DOIUrl":"10.1089/soro.2023.0153","url":null,"abstract":"The shape of flexible endoscopic surgical robot should be obtained to increase control accuracy and prevent unwanted tissue damage. To estimate the shape of flexible manipulator, space efficiency, cost-effectiveness, system complexity, and ease of calibration should be considered to integrate sensors into the manipulator. In this article, we propose a real-time method to estimate the shape of a hyper-redundant manipulator having embedded coiled fiber sensors. The main advantage of this method is guaranteeing shape recognition even when the manipulator is subjected to an external load. The fiber sensors are highly flexible, compact, and inexpensive, as well as they can functionally measure both compressive and tensile strain of hyper-redundant manipulator. The sensor design was optimized to achieve durability and sensitivity. The numbers of sensor and the placements were determined by the analysis of the kinematics and moment distribution of the manipulator. The accuracy of shape estimation was validated experimentally under both free-loading and loading conditions. The proposed method achieved real-time estimating capability with a mean maximum error of each joint position smaller than 3.54% in free-loading condition and 5.47% in loading condition.","PeriodicalId":94210,"journal":{"name":"Soft robotics","volume":" ","pages":"821-834"},"PeriodicalIF":0.0,"publicationDate":"2024-10-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"140946751","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

Single-Material Solvent-Driven Polydimethylsiloxane Sponge Bending Actuators. 单一材料溶剂驱动的聚二甲基硅氧烷海绵弯曲执行器。

Soft robotics Pub Date : 2024-10-01 Epub Date: 2024-04-26 DOI: 10.1089/soro.2023.0147

Esma Mutlutürk, Doğa Özbek, Onur Özcan, Gokcen Birlik Demirel, Bilge Baytekin

{"title":"Single-Material Solvent-Driven Polydimethylsiloxane Sponge Bending Actuators.","authors":"Esma Mutlutürk, Doğa Özbek, Onur Özcan, Gokcen Birlik Demirel, Bilge Baytekin","doi":"10.1089/soro.2023.0147","DOIUrl":"10.1089/soro.2023.0147","url":null,"abstract":"Soft robots mimic the agility of living organisms without rigid joints and muscles. Continuum bending (CB) is one type of motion living organisms can display. CB can be achieved using pneumatic, electroactive, or thermal actuators prepared by casting an active layer on a passive layer. The corresponding input actuates only the active layer in the assembly resulting in the bending of the structure. These two different layers must be laminated well during manufacturing. However, the formed bilayer can still delaminate later, and the detachment hampers the actuator's reversible, long-time use. An approach to creating a single material bending actuator was previously reported, for which spatial gradient swelling was used. This authentic approach allows a single material to be manufactured as a bending actuator, allowing easy access to such actuators without lamination. In this study, we show spatial porosity differences in the sponges of polydimethylsiloxane (PDMS) (a common material in soft robotics) can be used to create the required anisotropy for bending. The spongy polymers are manufactured through table sugar templates and actuated by (organic) solvent absorption/desorption. This enables some versatility in the mechanical properties, shape, actuation force, and actuation speed. The one-material system's straightforward production and seamless nature are advantageous for reversible and repetitive bending. This simple method can further be developed in hydrogels and polymers for soft robotics and functional materials.","PeriodicalId":94210,"journal":{"name":"Soft robotics","volume":" ","pages":"812-820"},"PeriodicalIF":0.0,"publicationDate":"2024-10-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"140870864","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

Electro-Thermopneumatically Actuated, Adhesion-Force Controllable Octopus-Like Suction Cup Actuator. 电热气动、粘着力可控的章鱼式吸盘推杆。

Soft robotics Pub Date : 2024-10-01 Epub Date: 2024-04-01 DOI: 10.1089/soro.2023.0172

Yong Il Kim, Siwung Kim, Seongdong Kim, Ali Aldalbahi, Mostafizur Rahaman, Seongpil An, Alexander L Yarin, Sam S Yoon

引用次数: 0

Enhancing the Versatility and Performance of Soft Robotic Grippers, Hands, and Crawling Robots Through Three-Dimensional-Printed Multifunctional Buckling Joints. 通过三维打印多功能屈曲关节增强软机器人抓手、手和爬行机器人的多功能性和性能。

Soft robotics Pub Date : 2024-10-01 Epub Date: 2024-02-22 DOI: 10.1089/soro.2023.0111

Chih-Wen Ou Yang, Shao-Yi Yu, Che-Wei Chan, Chien-Yao Tseng, Jing-Fang Cai, Han-Pang Huang, Jia-Yang Juang

{"title":"Enhancing the Versatility and Performance of Soft Robotic Grippers, Hands, and Crawling Robots Through Three-Dimensional-Printed Multifunctional Buckling Joints.","authors":"Chih-Wen Ou Yang, Shao-Yi Yu, Che-Wei Chan, Chien-Yao Tseng, Jing-Fang Cai, Han-Pang Huang, Jia-Yang Juang","doi":"10.1089/soro.2023.0111","DOIUrl":"10.1089/soro.2023.0111","url":null,"abstract":"Soft robotic grippers and hands offer adaptability, lightweight construction, and enhanced safety in human-robot interactions. In this study, we introduce vacuum-actuated soft robotic finger joints to overcome their limitations in stiffness, response, and load-carrying capability. Our design-optimized through parametric design and three-dimensional (3D) printing-achieves high stiffness using vacuum pressure and a buckling mechanism for large bending angles (>90°) and rapid response times (0.24 s). We develop a theoretical model and nonlinear finite-element simulations to validate the experimental results and provide valuable insights into the underlying mechanics and visualization of the deformation and stress field. We showcase versatile applications of the buckling joints: a three-finger gripper with a large lifting ratio (∼96), a five-finger robotic hand capable of replicating human gestures and adeptly grasping objects of various characteristics in static and dynamic scenarios, and a planar-crawling robot carrying loads 30 times its weight at 0.89 body length per second (BL/s). In addition, a jellyfish-inspired robot crawls in circular pipes at 0.47 BL/s. By enhancing soft robotic grippers' functionality and performance, our study expands their applications and paves the way for innovation through 3D-printed multifunctional buckling joints.","PeriodicalId":94210,"journal":{"name":"Soft robotics","volume":" ","pages":"741-754"},"PeriodicalIF":0.0,"publicationDate":"2024-10-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"139934896","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

Fast-Swimming Soft Robotic Fish Actuated by Bionic Muscle. 由仿生肌肉驱动的快速游泳软体机器鱼

Soft robotics Pub Date : 2024-10-01 Epub Date: 2024-02-26 DOI: 10.1089/soro.2023.0163

Ruiqian Wang, Chuang Zhang, Yiwei Zhang, Lianchao Yang, Wenjun Tan, Hengshen Qin, Feifei Wang, Lianqing Liu

{"title":"Fast-Swimming Soft Robotic Fish Actuated by Bionic Muscle.","authors":"Ruiqian Wang, Chuang Zhang, Yiwei Zhang, Lianchao Yang, Wenjun Tan, Hengshen Qin, Feifei Wang, Lianqing Liu","doi":"10.1089/soro.2023.0163","DOIUrl":"10.1089/soro.2023.0163","url":null,"abstract":"Soft underwater swimming robots actuated by smart materials have unique advantages in exploring the ocean, such as low noise, high flexibility, and friendly environment interaction ability. However, most of them typically exhibit limited swimming speed and flexibility due to the inherent characteristics of soft actuation materials. The actuation method and structural design of soft robots are key elements to improve their motion performance. Inspired by the muscle actuation and swimming mechanism of natural fish, a fast-swimming soft robotic fish actuated by a bionic muscle actuator made of dielectric elastomer is presented. The results show that by controlling the two independent actuating units of a biomimetic actuator, the robotic fish can not only achieve continuous C-shaped body motion similar to natural fish but also have a large bending angle (maximum unidirectional angle is about 40°) and thrust force (peak thrust is about 14 mN). In addition, the coupling relationship between the swimming speed and actuating parameters of the robotic fish is established through experiments and theoretical analysis. By optimizing the control strategy, the robotic fish can demonstrate a fast swimming speed of 76 mm/s (0.76 body length/s), which is much faster than most of the reported soft robotic fish driven by nonbiological soft materials that swim in body and/or caudal fin propulsion mode. What's more, by applying programmed voltage excitation to the actuating units of the bionic muscle, the robotic fish can be steered along specific trajectories, such as continuous turning motions and an S-shaped routine. This study is beneficial for promoting the design and development of high-performance soft underwater robots, and the adopted biomimetic mechanisms, as well as actuating methods, can be extended to other various flexible devices and soft robots.","PeriodicalId":94210,"journal":{"name":"Soft robotics","volume":" ","pages":"845-856"},"PeriodicalIF":0.0,"publicationDate":"2024-10-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"139975187","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

3D-Printed Origami Actuators for a Multianimal-Inspired Soft Robot with Amphibious Locomotion and Tongue Hunting. 三维打印折纸致动器，用于具有两栖运动和舌头狩猎功能的多动物启发软体机器人。

Soft robotics Pub Date : 2024-08-01 Epub Date: 2024-02-08 DOI: 10.1089/soro.2023.0079

Yang Yang, Yuan Xie, Jia Liu, Yunquan Li, Feifei Chen

{"title":"3D-Printed Origami Actuators for a Multianimal-Inspired Soft Robot with Amphibious Locomotion and Tongue Hunting.","authors":"Yang Yang, Yuan Xie, Jia Liu, Yunquan Li, Feifei Chen","doi":"10.1089/soro.2023.0079","DOIUrl":"10.1089/soro.2023.0079","url":null,"abstract":"The field of soft robotics is rapidly evolving, and there is a growing interest in developing soft robots with bioinspired features for use in various applications. This research presented the design and development of 3D-printed origami actuators for a soft robot with amphibious locomotion and tongue hunting capabilities. Two different types of programmable origami actuators were designed and manufactured, namely Z-shaped and twist tower actuators. In addition, two actuator variations were developed based on the Z-shaped actuator, including the pelvic fin and the coiling/uncoiling types. The Z-shaped actuators were used for the rear legs to facilitate the locomotion of the water-like frogs. Meanwhile, the twisted tower actuators were used for the rotation joints in the forelegs and for locomotion on land. The pelvic fin actuator was developed to imitate the land locomotion of the mudskipper, and the coiling/uncoiling actuator was designed for tongue hunting motion. The origami actuators and soft robot prototype were tested through a series of experiments, which showed that the robot was capable of efficiently moving in water and on land and performing tongue hunting motions. Our results demonstrate the effectiveness of these actuators in producing the desired motions and provide insights into the potential of applying 3D-printed origami actuators in the development of soft robots with bioinspired features.","PeriodicalId":94210,"journal":{"name":"Soft robotics","volume":" ","pages":"650-669"},"PeriodicalIF":0.0,"publicationDate":"2024-08-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"139708915","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

Safe Supervisory Control of Soft Robot Actuators. 软机器人执行器的安全监控。

Soft robotics Pub Date : 2024-08-01 Epub Date: 2024-02-06 DOI: 10.1089/soro.2022.0131

Andrew P Sabelhaus, Zach J Patterson, Anthony T Wertz, Carmel Majidi

{"title":"Safe Supervisory Control of Soft Robot Actuators.","authors":"Andrew P Sabelhaus, Zach J Patterson, Anthony T Wertz, Carmel Majidi","doi":"10.1089/soro.2022.0131","DOIUrl":"10.1089/soro.2022.0131","url":null,"abstract":"Although soft robots show safer interactions with their environment than traditional robots, soft mechanisms and actuators still have significant potential for damage or degradation particularly during unmodeled contact. This article introduces a feedback strategy for safe soft actuator operation during control of a soft robot. To do so, a supervisory controller monitors actuator state and dynamically saturates control inputs to avoid conditions that could lead to physical damage. We prove that, under certain conditions, the supervisory controller is stable and verifiably safe. We then demonstrate completely onboard operation of the supervisory controller using a soft thermally actuated robot limb with embedded shape memory alloy actuators and sensing. Tests performed with the supervisor verify its theoretical properties and show stabilization of the robot limb's pose in free space. Finally, experiments show that our approach prevents overheating during contact, including environmental constraints and human touch, or when infeasible motions are commanded. This supervisory controller, and its ability to be executed with completely onboard sensing, has the potential to make soft robot actuators reliable enough for practical use.","PeriodicalId":94210,"journal":{"name":"Soft robotics","volume":" ","pages":"561-572"},"PeriodicalIF":0.0,"publicationDate":"2024-08-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"139699196","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