Soft robotics最新文献_第8页

Haptic Localization with a Soft Whisker from Moment Readings at the Base. 根据底部的力矩读数，使用软须进行触觉定位。

Soft robotics Pub Date : 2024-08-01 Epub Date: 2024-01-09 DOI: 10.1089/soro.2023.0098

Mohammad Sheikh Sofla, Srikishan Vayakkattil, Marcello Calisti

{"title":"Haptic Localization with a Soft Whisker from Moment Readings at the Base.","authors":"Mohammad Sheikh Sofla, Srikishan Vayakkattil, Marcello Calisti","doi":"10.1089/soro.2023.0098","DOIUrl":"10.1089/soro.2023.0098","url":null,"abstract":"This article focuses on haptic localization of very lightweight and delicate objects while applying a contact force >5000 times lower than the weight of the object. A soft whisker integrated with a Force/Moment (F/M) sensor at the base, and a novel reconstruction algorithm have been proposed for this purpose. Initially, the mathematical relationships between the deformations of the whisker and the F/M sensor outputs were used to reconstruct the shape of the whisker and the position of the touched object. The Cosserat rod theory was used under the assumption that only one contact point occurs during the exploration, and friction effects are negligible. A new methodology we called moment only reading (MOR) has been tested, verified, and compared with previous methods that employed Force and Moment Readings (FMR). Experimental investigations revealed that the spatial position estimation error of the MOR method was confined within 13 mm, when the force applied ranged between 0.001 and 0.01 N. Moreover, the comparison with FMR demonstrated that MOR is capable of retrieving the position of objects even when the force readings drop below the force resolution of the sensor. Eventually, the MOR method has been applied to demonstrate the localization and grasping, with a soft gripper, of delicate crops like tomatoes and strawberries.","PeriodicalId":94210,"journal":{"name":"Soft robotics","volume":" ","pages":"539-549"},"PeriodicalIF":0.0,"publicationDate":"2024-08-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"139405821","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

Multi-Degree-of-Freedom Force Sensor Incorporated into Soft Robotic Gripper for Improved Grasping Stability. 将多自由度力传感器纳入软体机器人抓手以提高抓取稳定性

Soft robotics Pub Date : 2024-08-01 Epub Date: 2024-04-01 DOI: 10.1089/soro.2023.0068

Heeju Mun, David Santiago Diaz Cortes, Jung-Hwan Youn, Ki-Uk Kyung

{"title":"Multi-Degree-of-Freedom Force Sensor Incorporated into Soft Robotic Gripper for Improved Grasping Stability.","authors":"Heeju Mun, David Santiago Diaz Cortes, Jung-Hwan Youn, Ki-Uk Kyung","doi":"10.1089/soro.2023.0068","DOIUrl":"10.1089/soro.2023.0068","url":null,"abstract":"In recent years, soft robotic grippers have emerged as a promising solution for versatile and safe manipulation of objects in various fields. However, precise force control is critical, especially when handling delicate or fragile objects, to avoid excessive grip force application or to prevent object slippage. Herein, we propose a novel three-degree-of-freedom force sensor incorporated within a soft robotic gripper to realize stable grasping with force feedback. The proposed optical sensor employs lightweight and compact optical fibers, thereby allowing for cost-effective fabrication, and a robust sensing system that is immune to electromagnetic fields. By innervating the soft gripper with optical fibers, a durable system is achieved with the fibers functioning as a strengthening layer, thereby eliminating the need for embedding an external stiffening structure for efficient bending actuation. The innovative contact-based light loss sensing mechanism allows for a robust and stable sensing mechanism with low drift (<0.1% over 9000 cycles) that can be applied to soft pneumatic bending grippers. We used the developed sensor-incorporated soft gripper to grasp various objects, including magnetic materials, and achieved slip detection along with grip force feedback without any signal interference. Overall, this study proposes a robust measuring multi-degree-of-freedom force sensor that can be incorporated into grippers for improved grasping stability.","PeriodicalId":94210,"journal":{"name":"Soft robotics","volume":" ","pages":"628-638"},"PeriodicalIF":0.0,"publicationDate":"2024-08-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"140338398","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 Closed-Loop Control of a Novel Soft Gastric Simulator Toward Emulating Antral Contraction Waves. 新型软胃模拟器的仿生闭环控制，以模拟前胃收缩波

Soft robotics Pub Date : 2024-08-01 Epub Date: 2024-01-22 DOI: 10.1089/soro.2023.0097

Shahab Kazemi, Ryman Hashem, Martin Stommel, Leo K Cheng, Weiliang Xu

{"title":"Biomimetic Closed-Loop Control of a Novel Soft Gastric Simulator Toward Emulating Antral Contraction Waves.","authors":"Shahab Kazemi, Ryman Hashem, Martin Stommel, Leo K Cheng, Weiliang Xu","doi":"10.1089/soro.2023.0097","DOIUrl":"10.1089/soro.2023.0097","url":null,"abstract":"Soft gastric simulators are in vitro biomimetic modules that can reproduce the antral contraction waves (ACWs). Along with providing information concerning stomach contents, stomach simulators enable experts to evaluate the digestion process of foods and drugs. Traditionally, open-loop control approaches were implemented on stomach simulators to produce ACWs. Constructing a closed-loop control system is essential to improve the simulator's ability to imitate ACWs in additional scenarios and avoid constant tuning. Closed-loop control can enhance stomach simulators in accuracy, responding to various food and drug contents, timing, and unknown disturbances. In this article, a new generation of anatomically realistic soft pneumatic gastric simulators is designed and fabricated. The presented simulator represents the antrum, the lower portion of the stomach where ACWs occur. It is equipped with a real-time feedback system to implement diverse closed-loop controllers on demand. All the details of the physical design, fabrication, and assembly process are discussed. Also, the measures taken for the mechatronics design and sensory system are highlighted in this article. Through several implementation algorithms and techniques, three closed-loop controllers, including model-based and model-free schemes are designed and successfully applied on the presented simulator to imitate ACWs. All the experimental outcomes are carefully analyzed and compared against the biological counterparts. It is demonstrated that the presented simulator can serve as a reliable tool and method to scrutinize digestion and promote novel technologies around the human stomach and the digestion process. This research methodology can also be utilized to develop other biomimetic and bioinspired applications.","PeriodicalId":94210,"journal":{"name":"Soft robotics","volume":" ","pages":"684-697"},"PeriodicalIF":0.0,"publicationDate":"2024-08-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"139521844","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

Worm-Inspired, Untethered, Soft Crawling Robots for Pipe Inspections. 受蠕虫启发的无系绳软爬行机器人用于管道检查。

Soft robotics Pub Date : 2024-08-01 Epub Date: 2024-07-17 DOI: 10.1089/soro.2023.0076

Yunwei Zhao, Haoran Huang, Weizhe Yuan, Xiaomin Liu, C Chase Cao

{"title":"Worm-Inspired, Untethered, Soft Crawling Robots for Pipe Inspections.","authors":"Yunwei Zhao, Haoran Huang, Weizhe Yuan, Xiaomin Liu, C Chase Cao","doi":"10.1089/soro.2023.0076","DOIUrl":"10.1089/soro.2023.0076","url":null,"abstract":"The increasing demand for inspection, upkeep, and repair of pipeline and tunnel infrastructures has catalyzed research into the creation of robots with superior flexibility, adaptability, and load-bearing capacities. This study introduces an autonomous soft robot designed for navigating both straight and curved pipelines of 90 mm diameter. The soft robot is enabled by an elongation pneumatic actuator (EPA) as its body and multiple radial expansion pneumatic actuators (REPAs) as its feet to provide adhesion and support on the pipe walls. It achieves a horizontal movement speed of 1.27 mm/s and ascends vertically at 0.39 mm/s. An integrated control mechanism, merging both pneumatic and electrical systems is employed to facilitate unrestrained movement. A novel control tactic has been formulated to ensure synchronized coordination between the robot's body deformation and leg anchoring, ensuring stable movement. This soft robot demonstrates remarkable mobility metrics, boasting an anchoring strength of over 100 N, a propelling force of 43.8 N when moving vertically, and a pulling strength of 31.4 N during navigation in curved pipelines. It can carry a camera to capture the internal view of the pipe and remove obstacles autonomously. The unconstrained and autonomous movement of the untethered soft robot presents new opportunities for various applications at different scales.","PeriodicalId":94210,"journal":{"name":"Soft robotics","volume":" ","pages":"639-649"},"PeriodicalIF":0.0,"publicationDate":"2024-08-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"141636265","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

Soft Polymer-Actuated Compliant Microgripper with Adaptive Vibration-Controlled Grasp and Release. 软质聚合物驱动的顺应式微抓手，具有自适应振动控制的抓取和释放功能。

Soft robotics Pub Date : 2024-08-01 Epub Date: 2024-04-01 DOI: 10.1089/soro.2023.0027

Jung-Hwan Youn, Je-Sung Koh, Ki-Uk Kyung

{"title":"Soft Polymer-Actuated Compliant Microgripper with Adaptive Vibration-Controlled Grasp and Release.","authors":"Jung-Hwan Youn, Je-Sung Koh, Ki-Uk Kyung","doi":"10.1089/soro.2023.0027","DOIUrl":"10.1089/soro.2023.0027","url":null,"abstract":"Microgrippers that incorporate soft actuators are appropriate for micromanipulation or microsurgery owing to their ability to grasp objects without causing damage. However, developing a microgripper with a large gripping range that can produce a large force with high speed remains challenging in soft actuation mechanisms. Herein, we introduce a compliant microgripper driven by a soft dielectric elastomer actuator (DEA) called a spiral flexure cone DEA (SFCDEA). The submillimeter-scale SFCDEA exhibited a controllable linear displacement over a high bandwidth and the capability of lifting 100.9 g, which was 670 times higher than its mass. Subsequently, we developed a compliant microgripper based on the SFCDEA using smart composite microstructure technology to fabricate three-dimensional gripper linkages. We demonstrated that the microgripper was able to grasp various millimeter-scale objects with different shapes, sizes, and weights without a complex feedback control owing to its compliance. We proved the versatility of our gripper in robotic manipulation by demonstrating adaptive grasping and releasing of small objects using vibrations owing to its high bandwidth.","PeriodicalId":94210,"journal":{"name":"Soft robotics","volume":" ","pages":"585-595"},"PeriodicalIF":0.0,"publicationDate":"2024-08-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"140338399","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

The Walking Control of a Crab Biorobot in Amphibious Environment. 螃蟹生物机器人在两栖环境中的行走控制

Soft robotics Pub Date : 2024-08-01 Epub Date: 2024-02-29 DOI: 10.1089/soro.2023.0033

Kazuki Kai, Huu Duoc Nguyen, Wei Yang Wan, Hirotaka Sato

引用次数: 0

A Sensorized Soft Robotic Hand with Adhesive Fingertips for Multimode Grasping and Manipulation. 用于多模式抓取和操纵的带粘合剂指尖的传感软机器手

Soft robotics Pub Date : 2024-08-01 Epub Date: 2024-03-14 DOI: 10.1089/soro.2023.0099

Wookeun Park, Seongjin Park, Hail An, Minho Seong, Joonbum Bae, Hoon Eui Jeong

{"title":"A Sensorized Soft Robotic Hand with Adhesive Fingertips for Multimode Grasping and Manipulation.","authors":"Wookeun Park, Seongjin Park, Hail An, Minho Seong, Joonbum Bae, Hoon Eui Jeong","doi":"10.1089/soro.2023.0099","DOIUrl":"10.1089/soro.2023.0099","url":null,"abstract":"Soft robotic grippers excel at achieving conformal and reliable contact with objects without the need for complex control algorithms. However, they still lack in grasp and manipulation abilities compared with human hands. In this study, we present a sensorized multi-fingered soft gripper with bioinspired adhesive fingertips that can provide both fingertip-based adhesion grasping and finger-based form closure grasping modes. The gripper incorporates mushroom-like microstructures on its adhesive fingertips, enabling robust adhesion through uniform load shearing. A single fingertip exhibits a maximum load capacity of 4.18 N against a flat substrate. The soft fingers have multiple joints, and each joint can be independently actuated through pneumatic control. This enables diverse bending motions and stable grasping of various objects, with a maximum load capacity of 28.29 N for three fingers. In addition, the soft gripper is equipped with a kirigami-patterned stretchable sensor for motion monitoring and control. We demonstrate the effectiveness of our design by successfully grasping and manipulating a diverse range of objects with varying shapes, sizes, and curvatures. Moreover, we present the practical application of our sensorized soft gripper for remotely controlled cooking.","PeriodicalId":94210,"journal":{"name":"Soft robotics","volume":" ","pages":"698-708"},"PeriodicalIF":0.0,"publicationDate":"2024-08-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"140133708","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

MorphGI: A Self-Propelling Soft Robotic Endoscope Through Morphing Shape. MorphGI：变形自推进软机器人内窥镜

Soft robotics Pub Date : 2024-08-01 Epub Date: 2024-03-14 DOI: 10.1089/soro.2023.0096

Julius E Bernth, Guokai Zhang, Dionysios Malas, George Abrahams, Bu Hayee, Hongbin Liu

引用次数: 0

Deformation Characteristics of Three-Dimensional Spiral Soft Actuator Driven by Water Hydraulics for Underwater Manipulator. 水液压驱动水下机械臂三维螺旋软作动器的变形特性

Soft robotics Pub Date : 2024-06-01 Epub Date: 2023-11-22 DOI: 10.1089/soro.2023.0085

Songlin Nie, Linfeng Huo, Hui Ji, Shuang Nie, Pengwang Gao, Hanyu Li

引用次数: 0

Programming Motion into Materials Using Electricity-Driven Liquid Crystal Elastomer Actuators. 利用电驱动液晶弹性体致动器将运动编程到材料中

Soft robotics Pub Date : 2024-06-01 Epub Date: 2024-01-23 DOI: 10.1089/soro.2023.0063

Lin Xu, Chen Zhu, Samuel Lamont, Xiang Zou, Yabing Yang, Si Chen, Jianning Ding, Franck J Vernerey

{"title":"Programming Motion into Materials Using Electricity-Driven Liquid Crystal Elastomer Actuators.","authors":"Lin Xu, Chen Zhu, Samuel Lamont, Xiang Zou, Yabing Yang, Si Chen, Jianning Ding, Franck J Vernerey","doi":"10.1089/soro.2023.0063","DOIUrl":"10.1089/soro.2023.0063","url":null,"abstract":"As thermally driven smart materials capable of large reversible deformations, liquid crystal elastomers (LCEs) have great potential for applications in bionic soft robots, artificial muscles, controllable actuators, and flexible sensors due to their ability to program controllable motion into materials. In this article, we introduce conductive LCE actuators using a liquid metal electrothermal layer and a polyethylene terephthalate substrate. Our LCE actuators can be stimulated at low currents from 2 to 4 A and produce a maximum work density of 9.4 <math><mstyle><mi>k</mi><mi>J</mi></mstyle><mo>∕</mo><msup><mrow><mstyle><mi>m</mi></mstyle></mrow><mrow><mn>3</mn></mrow></msup></math>. We illustrate the potential applications of this system by designing a palm-activated artificial muscle gripper, which can be used to grasp soft objects ranging from 5 to 55 mm in size, and even ring-shaped workpieces with precise external or internal support. Furthermore, inspired by the movement of fruit fly larvae, we designed a new soft robot capable of bioinspired crawling and turning by inducing anisotropic friction with an asymmetric design. Finally, we illustrate advanced motional control by designing an autonomously rotating wheel based on the asymmetric contraction of its spokes. To assist in the production of autonomously moving robots, we provide a thorough characterization of its motion dynamics.","PeriodicalId":94210,"journal":{"name":"Soft robotics","volume":" ","pages":"464-472"},"PeriodicalIF":0.0,"publicationDate":"2024-06-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"139543923","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