3D Electromagnetic Reconfiguration Enabled by Soft Continuum Robots

Gan, Lucia T.; Blumenschein, Laura H.; Huang, Zhe; Okamura, Allison M.; Hawkes, Elliot W.; Fan, Jonathan A.

doi:10.1109/lra.2020.2969922

Cited by 17 publications

(11 citation statements)

References 27 publications

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“…The publisher for this copyrighted material is Mary Ann Liebert, Inc. publishers. Modified from Greer et al ( 2017 ) © IEEE 2017, Blumenschein et al ( 2018b ) © IEEE 2018, and Gan et al ( 2020 ) © IEEE 2020. Modified from Hawkes et al ( 2017 ).…”

Section: Designmentioning

confidence: 99%

“…Having all the bending concentrated at a single point can limit the usable actuation scenarios, so other tendon actuation designs include a limit on the local bending. In Blumenschein et al ( 2018a , b ), Gan et al ( 2020 ), and Wang et al ( 2020 ) this was accomplished through physical hard stops placed along the tendon's routed path on the surface of the tube ( Figure 3B ). This feature creates a “traveling wave” of bending, with the point most proximal to the base bending first, followed by more distal points as the hard stops connect.…”

Section: Designmentioning

confidence: 99%

“…The publisher for this copyrighted material is Mary Ann Liebert, Inc. publishers. Modified from Coad et al ( 2020a ) © IEEE 2020, Luong et al ( 2019 ) © IEEE 2019, Stroppa et al ( 2020 ) © IEEE 2020, Jeong et al ( 2020 ), Coad et al ( 2020b ) © IEEE 2020, Agharese et al ( 2018 ) © IEEE 2018, Blumenschein et al ( 2018a ) © IEEE 2018, Gan et al ( 2020 ) © IEEE 2020, Do et al ( 2020 ) © IEEE 2020, and Naclerio et al ( 2018 ) © IEEE 2018.…”

Section: Designmentioning

confidence: 99%

“…Items attached to the body can also be deployed and shaped by the robot. Agharese et al ( 2018 ) shows deployment of soft haptic actuators, and Blumenschein et al ( 2018a ) and Gan et al ( 2020 ) show deploying and shaping segmented antenna pieces in order to form functional devices.…”

Section: Designmentioning

confidence: 99%

“…Reprinted with permission from AAAS. Modified from Blumenschein et al ( 2018a ) © IEEE 2018, Gan et al ( 2020 ) © IEEE 2020, Agharese et al ( 2018 ) © IEEE 2018, Blumenschein et al ( 2018b ) © IEEE 2018, Greer et al ( 2017 ) © IEEE 2017, Jeong et al ( 2020 ), Naclerio et al ( 2018 ) © IEEE 2018, Coad et al ( 2020a ) © IEEE 2020, Slade et al ( 2017 ) © IEEE 2017, and Luong et al ( 2019 ) © IEEE 2019.…”

Section: Applicationsmentioning

confidence: 99%

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Design, Modeling, Control, and Application of Everting Vine Robots

et al. 2020

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In nature, tip-localized growth allows navigation in tightly confined environments and creation of structures. Recently, this form of movement has been artificially realized through pressure-driven eversion of flexible, thin-walled tubes. Here we review recent work on robots that “grow” via pressure-driven eversion, referred to as “everting vine robots,” due to a movement pattern that is similar to that of natural vines. We break this work into four categories. First, we examine the design of everting vine robots, highlighting tradeoffs in material selection, actuation methods, and placement of sensors and tools. These tradeoffs have led to application-specific implementations. Second, we describe the state of and need for modeling everting vine robots. Quasi-static models of growth and retraction and kinematic and force-balance models of steering and environment interaction have been developed that use simplifying assumptions and limit the involved degrees of freedom. Third, we report on everting vine robot control and planning techniques that have been developed to move the robot tip to a target, using a variety of modalities to provide reference inputs to the robot. Fourth, we highlight the benefits and challenges of using this paradigm of movement for various applications. Everting vine robot applications to date include deploying and reconfiguring structures, navigating confined spaces, and applying forces on the environment. We conclude by identifying gaps in the state of the art and discussing opportunities for future research to advance everting vine robots and their usefulness in the field.

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