Soft robotics最新文献_第8页

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

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

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

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