A Positive and Negative Pressure Soft Linear Brake for Wearable Applications

Jang, Jae Hyuck; Coutinho, Altair; Park, Yeong Jae; Rodrigue, Hugo

doi:10.1109/tie.2022.3148746

Cited by 8 publications

(7 citation statements)

References 37 publications

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“…There are multiple variations of vacuum-pressure-activated LJ that have been developed to be applied in robotics [1,7,[14][15][16][17][18][19][20][21][22][23][24][25][26][27][28][29][30][31][32][33]. These variations will be described in Section 4.…”

Section: Vacuum Pressurementioning

confidence: 99%

“…LJ has been applied in wearable robots for different parts of the human body, such as the wrists [20,50], lower limbs [51], back [20,25], and upper limbs [14,20,25]. A device known as a sliding linkage-based layer is a variation of a vacuum-pressure-activated LJ.…”

Section: Wearable Robotsmentioning

confidence: 99%

“…Other uses of LJSs working as brakes in wearable robots can be seen in Figure 12d,e, where the LJ device provides lower back support or arm support while a human being is lifting or holding payloads [25]. This type of device has significant potential for application in industrial environments or in the healthcare sector, where lifting parcels, parts, or patients may lead to repeated and significant strain on the back muscles, spine, or arms.…”

Section: Wearable Robotsmentioning

confidence: 99%

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A Review of Mechanisms to Vary the Stiffness of Laminar Jamming Structures and Their Applications in Robotics

Caro,

Carmichael

2024

Actuators

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Laminar jamming (LJ) is a method to achieve variable stiffness in robotics that has attracted notable attention because of its simple working principle and potential high stiffness variation. This article reviews the lock/unlock mechanisms of LJ structures. The application of these mechanisms in robotics is discussed, including grippers, continuum robots, wearable robots, robot arms, and more. Furthermore, the performance and limitations of the mechanisms to vary the stiffness of LJ are qualitatively and quantitatively analyzed. This performance analysis focuses mainly on the potential of LJ mechanisms to be applied in robot arms with variable stiffness and their potential to attenuate the impact between human beings and robot arms. The modeling of LJ through analytical and finite element methods is described, and their evolution towards design methodologies is discussed. To conclude, the directions and recommendations that should be followed in research on LJ are discussed. These include the improvement of existing lock/unlock mechanisms, the development of new lock/unlock mechanisms, and the development of more control algorithms for robot arms that incorporate LJ structures.

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Section: Vacuum Pressurementioning

confidence: 99%

Section: Wearable Robotsmentioning

confidence: 99%

Section: Wearable Robotsmentioning

confidence: 99%

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A Review of Mechanisms to Vary the Stiffness of Laminar Jamming Structures and Their Applications in Robotics

Caro,

Carmichael

2024

Actuators

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“…Since soft cavities of pneumatic soft robots are often composed of lighter soft materials, soft actuators have the inherent benefits of being soft, lightweight, and inexpensive, and may be compatible with pneumatic/hydraulic control systems already in place. This makes it appropriate for human-computer interaction applications in the domains of service robots [20], automated manufacturing [21], sports support devices [22,23], medical rehabilitation equipment [24], and aircraft [25], where human-machine interaction is increasingly prevalent [26]. With the majority of soft pneumatic grippers available currently, it is impossible to obtain a secure grasp without enveloping objects and exerting pressure.…”

Section: Introductionmentioning

confidence: 99%

Soft electroadhesive grippers with variable stiffness and deflection motion capabilities

Xiang

Luo

et al. 2024

Smart Mater. Struct.

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Soft gripper robots provide superior safety, adaptability, and compliance compared to rigid robots. However, soft grippers must address inadequate stiffness and interference resistance. Soft pneumatic electroadhesion (EA) grippers with variable stiffness are potential options for addressing these difficulties. In this paper, we present a soft bionic gripper (SOBG) that resembles human finger movements, such as bending and deflection, employing pneumatic actuation, and whose stiffness is effectively decoupled from its position through a layer jamming-induced variable stiffness structure. By applying electroadhesive forces, the SOBG can perform complex motion tasks that would typically require a wrist joint, making them simpler to perform than with conventional flexible grippers. In addition, the SOBG can perform one-finger object manipulation to grasp flat, concave, and convex objects. To show the potential for more complex robotic applications, we evaluated each function independently by presenting a demonstration of cap-screwing, a material handling system, and an anti-interference research. The SOBG concept and solution proposed in this study may pave the way for the easy integration of EA into soft robotic systems and promote the wider use of EA technology.

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“…SPAs' simple working principle of expansion/contraction with positive and negative pressure requires mechanically preprogramming the SPAs to achieve diverse motions. Examples include McKibben actuators, [6,[14][15][16][17] circumferential reinforced actuators, [3,[18][19][20] pouch motors, [21][22][23] and smart morphologies, [5,[24][25][26] which have been used in a wide range of applications such as medical, [27,28] assistive technologies, [29][30][31][32][33] robotic end-effectors, [34,35] and locomotion. [17,[36][37][38] However, these methods are often designed for a specific application, which lacks versatility and requires substantial resources when applied to new applications.…”

mentioning

confidence: 99%

Sarcomere‐Inspired Multilayer Artificial Muscle Units for Hyperconfigurable Robotic Applications

Ambrose,

Tan,

Chiang

et al. 2023

Advanced Intelligent Systems

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Soft pneumatic biomimetic robotic systems excel at the specific application they are designed for, often to interact or navigate unstructured environments safely. However, redeployment to new purposes requires substantial resources, from redesign to revalidation. Despite most pneumatic artificial muscles surpassing the power and contraction performance of natural muscles, natural muscles largely remain unmatched in terms of their versatility and complex performance. This is likely due to artificial muscle's low effective strain and high radial expansion, limiting parallel operating efficiencies. To address these challenges, a class of compact versatile pneumatic actuators, called multilayer artificial muscle (MAM), that are capable of deployment to different applications through configurable modularity, is presented. The MAMs are biomimetically inspired by the sarcomere, the building block for natural muscle architecture. Similarly, MAM can extend and contract as well as be rearranged to mimic muscle‐like actions and functions, such as a caterpillar locomotion robot and an entire robotic arm. The MAMs are fabricated through multilayer, multimaterial, low‐cost additive manufacturing, which offers certain advantages such as higher extension, contraction force, and durability. MAMs have the potential to provide a crucial fundamental building block toward future versatile reconfigurable architecture.

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A Positive and Negative Pressure Soft Linear Brake for Wearable Applications

Cited by 8 publications

References 37 publications

A Review of Mechanisms to Vary the Stiffness of Laminar Jamming Structures and Their Applications in Robotics

A Review of Mechanisms to Vary the Stiffness of Laminar Jamming Structures and Their Applications in Robotics

Soft electroadhesive grippers with variable stiffness and deflection motion capabilities

Sarcomere‐Inspired Multilayer Artificial Muscle Units for Hyperconfigurable Robotic Applications

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