A Hybrid, Soft Robotic Exoskeleton Glove with Inflatable, Telescopic Structures and a Shared Control Operation Scheme

Gerez, Lucas; Gorjup, Gal; Zhou, Yuran; Liarokapis, Minas

doi:10.1109/icra46639.2022.9812426

Cited by 4 publications

(7 citation statements)

References 23 publications

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“…Similarly, Low [27] used you only look once, version 3 (YOLOv3) for object detection and successfully switched between three gripper poses based on detection results. Other networks, including convolutional neural network (CNN) [183] and Transformer, [184] have also provided reliable solutions for object detection, thus enhancing grasping capabilities. The performance of sensors in the aforementioned four categories is documented in Table 7-10, along with their respective strengths and limitations.…”

Section: Imaging Sensorsmentioning

confidence: 99%

“…Soft silicone pneumatic actuators [65] Pneumatic Soft multipoint waveguide sensor Optical Curvature measurement 2022 Soft inflatable exoskeleton [183] Pneumatic Raspberry Pi Camera Module V2 Optical Object detection 2022 CNN H-configuration modular robot [182] Pneumatic KS5A136, Kingcent Inc., China Optical Trajectory planning 2022…”

Section: Control Strategiesmentioning

confidence: 99%

“…Gerez [183] investigated a camera mounted on a soft exoskeleton glove to capture scene images and select grasp types via a CNN, as depicted in Figure 15c. Additionally, vision-based grasp systems have been developed through machine-learning methods, such as YOLOv3 [27] or an algorithm combining NNs and RL, [69] both enabling grasping pose modifications according to targets' shape, as illustrated in Figure 15b,d.…”

Section: Control Strategiesmentioning

confidence: 99%

“…Thuruthel [ 190 ] developed a simple feedback force controller for a soft anthropomorphic finger with significant drift and hysteresis, utilizing a recurrent neural network (RNN) based on soft sensor data to provide accurate and robust state estimation models, as shown in Figure a. Gerez [ 183 ] investigated a camera mounted on a soft exoskeleton glove to capture scene images and select grasp types via a CNN, as depicted in Figure 15c. Additionally, vision‐based grasp systems have been developed through machine‐learning methods, such as YOLOv3 [ 27 ] or an algorithm combining NNs and RL, [ 69 ] both enabling grasping pose modifications according to targets’ shape, as illustrated in Figure 15b,d.…”

Section: Soft Robotic Sensors and Controlmentioning

confidence: 99%

Section: Introductionmentioning

confidence: 99%

See 4 more Smart Citations

Intelligent Soft Robotic Grippers for Agricultural and Food Product Handling: A Brief Review with a Focus on Design and Control

Liu,

Hou,

et al. 2023

Advanced Intelligent Systems

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Advances in material sciences, control algorithms, and manufacturing techniques have facilitated rapid progress in soft grippers, propelling their adoption in various fields. In this review article, a comprehensive overview of the design and control aspects of intelligent soft robotic grippers tailored specifically for agricultural product handling is provided. Soft grippers have emerged as a promising solution for handling delicate and fragile objects. In this article, the recent progress in various gripper design, including fluidic and mechanical grippers, is elucidated and the role of advanced control approaches in enabling intelligent functions, such as object classification and grasping condition evaluation, is explored. Moreover, the challenges and opportunities pertaining to implementation of soft grippers in the agricultural industry are thoroughly discussed. While most demonstrations of soft grippers and their control strategies remain at the experimental stage, in this article, it is aimed to provide insights into the potential applications of soft grippers in agricultural product handling, thereby inspiring future research in this field.

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Section: Imaging Sensorsmentioning

confidence: 99%

Section: Control Strategiesmentioning

confidence: 99%

Section: Control Strategiesmentioning

confidence: 99%

Section: Soft Robotic Sensors and Controlmentioning

confidence: 99%

Section: Introductionmentioning

confidence: 99%

See 3 more Smart Citations

Intelligent Soft Robotic Grippers for Agricultural and Food Product Handling: A Brief Review with a Focus on Design and Control

Liu,

Hou,

et al. 2023

Advanced Intelligent Systems

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SOL: A Compact, Portable, Telescopic, Soft-Robotic Sun-Tracking Mechanism for Improved Solar Power Production

Busby,

Duan,

Thompson

et al. 2024

2024 IEEE International Conference on Robotics and Automation (ICRA)

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Development of soft wearable robotic gloves to prevent muscle fatigue and enhance work efficiency

Park,

Lee,

Won

et al. 2024

Journal of Industrial Textiles

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This study aimed to develop wearable robotic gloves that can provide comfort to logistics and transportation workers while providing hand assistance and addressing accumulated muscle fatigue caused by repetitive manual handling tasks. Two types of gloves, rivet-type and pouch-type were developed and evaluated using the nine-hole peg test (NHPT) and grip strength tests. Results showed rivet-type gloves had better dexterity, with an 8.14% faster NHPT time, and maintained 85% grip strength compared to 80% for pouch-type gloves, even after fatigue exercises. Wearability tests were conducted by measuring clothing pressure and brainwaves. In contrast to the functional experimental results, the pouch-type gloves exhibited significant decreases in clothing pressure during actuation. According to the difference in brain waves in the frontal lobe region, the beta and gamma waves observed when wearing pouch-type gloves were lower than those of rivet-type gloves, and pouch-type gloves exhibited higher alpha-wave results than rivet-type gloves. These results imply that participants were in a comparatively relaxed state when wearing pouch-type gloves. A wearer’s evaluation survey on the overall design, function, comfort, safety, ease of use, usefulness, and use intention was conducted. In summary, the rivet-type gloves exhibited better results in hand performance while the pouch-type gloves showed advantages in wearability, suggesting a tradeoff relationship between force transmission and wearer comfort. The results of this study aimed to improve the work efficiency at logistics and transportation industry sites and help improve the welfare of workers.

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A Hybrid, Soft Robotic Exoskeleton Glove with Inflatable, Telescopic Structures and a Shared Control Operation Scheme

Cited by 4 publications

References 23 publications

Intelligent Soft Robotic Grippers for Agricultural and Food Product Handling: A Brief Review with a Focus on Design and Control

Intelligent Soft Robotic Grippers for Agricultural and Food Product Handling: A Brief Review with a Focus on Design and Control

SOL: A Compact, Portable, Telescopic, Soft-Robotic Sun-Tracking Mechanism for Improved Solar Power Production

Development of soft wearable robotic gloves to prevent muscle fatigue and enhance work efficiency

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