A Comprehensive Dataset of Grains for Granular Jamming in Soft Robotics: Grip Strength and Shock Absorption

Howard, David M.; O’Connor, Jack; Letchford, Jordan; Joseph, Therese; Lin, Sophia; Baldwin, Sarah; Delaney, Gary W.

doi:10.1109/robosoft55895.2023.10122060

Cited by 4 publications

(3 citation statements)

References 27 publications

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“…Sucrose, in particular, has shown superior performance in the context of medical applications [198]. Howard et al investigated 35 various grains which included a mix of commercially available substances and 3D printed granules for their suitability for use as a granule and created a dataset [109]. They considered the variability among the grains in terms of shape, size, and softness.…”

Section: No Metric Explanationmentioning

confidence: 99%

“…Material (Young's modulus) [157,193] Rigid/deformable [109,199] Coefficient of friction [146] Coefficient of friction [193,199] Number of layers wrapped [146] Size [193] Inclination angle [146,193] Low density [194] Distance between rows of holes [146,193] Fast stiffness changing [194] Flap width [146,193] High stiffness ratio [194] Flap length [146,193] Shape [109] Flap thickness [146,193] Flap count [193] Contact area [193] Weaving method of flaps [146] Various studies have favoured coffee particles for granular jamming. The prevalent method involves utilizing a vacuum pump to compress layers or particles within an airtight, flexible chamber to achieve different stiffness levels.…”

Section: Flap Sheath Granulementioning

confidence: 99%

“…Figure 5. Distribution of existing literature reviews/surveys in the CR domain under the categories (a) overview [54,55,59,60,64,70-75], (b) vine robots [65,76,77], (c) actuation [78-81], (d) applications [63-66,82,83], (e) medical [58,61,62,67,72,74,84-88], (f) design/modelling [60,64,68,69,80,81,89-97],(g) control/navigation[64,65,81,86,93,[98][99][100][101][102][103], (h) fabrication[68], (i) grasp/grip[104,105], (j) performance evaluation[106], (k) sensing[80,107,108], and (l) stiffness tuning[80,88,[109][110][111][112].…”

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confidence: 99%

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Tendon-Driven Continuum Robots for Aerial Manipulation—A Survey of Fabrication Methods

Uthayasooriyan,

Vanegas,

Jalali

et al. 2024

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Aerial manipulators have seen a rapid uptake for multiple applications, including inspection tasks and aerial robot–human interaction in building and construction. Whilst single degree of freedom (DoF) and multiple DoF rigid link manipulators (RLMs) have been extensively discussed in the aerial manipulation literature, continuum manipulators (CMs), often referred to as continuum robots (CRs), have not received the same attention. This survey seeks to summarise the existing works on continuum manipulator-based aerial manipulation research and the most prevalent designs of continuous backbone tendon-driven continuum robots (TDCRs) and multi-link backbone TDCRs, thereby providing a structured set of guidelines for fabricating continuum robots for aerial manipulation. With a history spanning over three decades, dominated by medical applications, CRs are now increasingly being used in other domains like industrial machinery and system inspection, also gaining popularity in aerial manipulation. Fuelled by diverse applications and their associated challenges, researchers have proposed a plethora of design solutions, primarily falling within the realms of concentric tube (CT) designs or tendon-driven designs. Leveraging research works published in the past decade, we place emphasis on the preparation of backbones, support structures, tendons, stiffness control, test procedures, and error considerations. We also present our perspectives and recommendations addressing essential design and fabrication aspects of TDCRs in the context of aerial manipulation, and provide valuable guidance for future research and development endeavours in this dynamic field.

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Section: No Metric Explanationmentioning

confidence: 99%

Section: Flap Sheath Granulementioning

confidence: 99%

mentioning

confidence: 99%

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Tendon-Driven Continuum Robots for Aerial Manipulation—A Survey of Fabrication Methods

Uthayasooriyan,

Vanegas,

Jalali

et al. 2024

Drones

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Automated design of 4D-printed soft robots

Pinskier,

Wang,

Liow

et al. 2024

Smart Materials in Additive Manufacturing, Volume 3

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Constrained trajectory optimization and force control for UAVs with universal jamming grippers

Kremer,

Rahimi Nohooji,

Voos

2024

Sci Rep

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This study presents a novel framework that integrates the universal jamming gripper (UG) with unmanned aerial vehicles (UAVs) to enable automated grasping with no human operator in the loop. Grounded in the principles of granular jamming, the UG exhibits remarkable adaptability and proficiency, navigating the complexities of soft aerial grasping with enhanced robustness and versatility. Central to this integration is a uniquely formulated constrained trajectory optimization using model predictive control, coupled with a robust force control strategy, increasing the level of automation and operational reliability in aerial grasping. This control structure, while simple, is a powerful tool for various applications, ranging from material handling to disaster response, and marks an advancement toward genuine autonomy in aerial manipulation tasks. The key contribution of this research is the combination of a UG with a suitable control strategy, that can be kept relatively straightforward thanks to the mechanical intelligence built into the UG. The algorithm is validated through numerical simulations and virtual experiments.

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A Comprehensive Dataset of Grains for Granular Jamming in Soft Robotics: Grip Strength and Shock Absorption

Cited by 4 publications

References 27 publications

Tendon-Driven Continuum Robots for Aerial Manipulation—A Survey of Fabrication Methods

Tendon-Driven Continuum Robots for Aerial Manipulation—A Survey of Fabrication Methods

Automated design of 4D-printed soft robots

Constrained trajectory optimization and force control for UAVs with universal jamming grippers

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