A Soft Robot With Variable Stiffness Multidirectional Grasping Based on a Folded Plate Mechanism and Particle Jamming

Wei, Hang; Yu, Sophia; Zhao, Yanzhi; Qi, Lizhe; Zhao, Xiaofan

doi:10.1109/tro.2022.3183533

Cited by 20 publications

(17 citation statements)

References 30 publications

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“…To emphasize the gripping and manipulation capabilities, research and attention are primarily focused on the types of objects gripped, the weight of the grip, and operational flexibility. Wei H. et al [30] presented a rigid-flexible coupled variable stiffness module that employs a folding mechanism to provide rigid multidirectional loads and combines it with particle blocking to achieve local variable stiffness characteristics resembling finger grasping. Yang et al [32] proposed a soft robotic gripper inspired by the Fin Ray effect, with the entire structure directly 3D printed using soft materials, eliminating the need for assembly.…”

Section: Lcmentioning

confidence: 99%

“…Structural changes at each joint allow independent control of stiffness. Wei et al [30] presented a novel rigid-flexible coupling module with variable stiffness, employing foldable mechanisms to provide rigid multi-directional loading. Wang et al [126] introduced a cellular disruption mechanism to achieve variable stiffness, exhibiting high transition speed, biocompatibility, and reasonable high stiffness capacity.…”

Section: Variable Stiffness Based On Structurementioning

confidence: 99%

“…The gripper can only adaptively conform to the object without any motion control. The second mode involves LC, primarily as a two-dimensional planar finger-like grasping motion [7,9,11,12,14,16,[30][31][32][33]. By controlling the bending motion of the fingers, a line-shaped contact surface is formed with the object, facilitating grasping or manipulation.…”

Section: Introductionmentioning

confidence: 99%

See 2 more Smart Citations

Variable stiffness soft robotic gripper: design, development, and prospects

Shan,

Zhao,

Wang

et al. 2023

Bioinspir. Biomim.

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The advent of variable stiffness soft robotic grippers furnishes a conduit for exploration and manipulation within uncharted, non-structured environments. The paper provides a comprehensive review of the necessary technologies for the configuration design of soft robotic grippers with variable stiffness, serving as a reference for innovative gripper design. The design of variable stiffness soft robotic grippers typically encompasses the design of soft robotic grippers and variable stiffness modules.To adapt to unfamiliar environments and grasp unknown objects, a categorization and discussion have been undertaken based on the contact and motion manifestations between the gripper and the things across various dimensions: points contact (PC), lines contact (LC), surfaces contact (SC), and full-bodies contact (FBC), elucidating the advantages and characteristics of each gripping type. Furthermore, when designing soft robotic grippers, we must consider the effectiveness of object grasping methods but also the applicability of the actuation in the target environment. The actuation is the propelling force behind the gripping motion, holding utmost significance in shaping the structure of the gripper. Given the challenge of matching the actuation of robotic grippers with the target scenario, we reviewed the actuation of soft robotic grippers. We analyzed the strengths and limitations of various soft actuation, providing insights into the actuation design for soft robotic grippers. As a crucial technique for variable stiffness soft robotic grippers, variable stiffness technology can effectively address issues such as poor load-bearing capacity and instability caused by the softness of materials. Through a retrospective analysis of variable stiffness theory, we comprehensively introduce the development of variable stiffness theory in soft robotic grippers and showcase the application of variable stiffness grasping technology through specific case studies. Finally, we discuss the future prospects of variable stiffness grasping robots from several perspectives of applications and technologies.

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Section: Lcmentioning

confidence: 99%

Section: Variable Stiffness Based On Structurementioning

confidence: 99%

Section: Introductionmentioning

confidence: 99%

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Variable stiffness soft robotic gripper: design, development, and prospects

Shan,

Zhao,

Wang

et al. 2023

Bioinspir. Biomim.

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“…At present, the principle of variable stiffness of flexible robots mainly includes particle blockage, layered interference and functional materials [9][10][11][12][13].Yingtian Li et al realized variable stiffness through the principle of particle interference. When the air pressure ranged from 20 kPa to 80 kPa, the stiffness of the soft manipulator increased by 6 times [14].…”

Section: Introductionmentioning

confidence: 99%

A pneumatic variable stiffness elastic shaft

Wang,

Geng,

Peng

et al. 2023

Third International Conference on Control and Intelligent Robotics (ICCIR 2023)

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“…[19] Their load capacity can be improved via variable stiffness mechanisms [20][21][22] or rigid skeletons. [23,24] In addition, their universality can be raised by adjusting the grasp postures [25] or the active palm. [26] However, as with rigid grippers, the grasping implementation of these soft grippers is also highly dependent on the posture, stiffness, and geometry of the objects, as well as the relative pose of the gripper to the objects, which is the inherent limitation of the fingered gripper.…”

mentioning

confidence: 99%

A Soft Enveloping Gripper with Enhanced Grasping Ability via Morphological Adaptability

Hao

Wang

Zhou

et al. 2023

Advanced Intelligent Systems

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Grasping objects of various sizes, shapes, and rigidities are an essential capability for robots to interact with the environment and people, especially in unstructured scenarios, which has been attracting intense attention from researchers over several decades. Since different objects have different geometries and materials, even if the same object poses differently, a universal gripper is expected to always find the feasible points on the objects to effectively grasp them. [1][2][3] Inspired by the extraordinary dexterity, adaptability, and multimodal perception of the human hand, anthropomorphic grippers which are equipped with multiple fully actuated fingers and sensors were developed to achieve grasping objectives by actively changing their grasping gestures and adjusting the gripping force. [4][5][6][7] These grippers can achieve complicated manipulation tasks, such as cutting, stitching, and in-hand manipulation. However, the complicated structure and control strategies, as well as the extravagant prices impede their further application in grasping. Underactuated grippers, whose actuators are less than the degrees of freedom, were developed to reduce mechanical complexity and improve compliance. These grippers are usually driven by cables, such as the prosthetic hand with fingers connected by one cable and actuated by one motor, [8] or linkage such as the famous five-bar mechanisms. [9] With the passive elements, the underactuated grippers can, to some extent, automatically adapt their fingers to the shape of the objects, so they can more effectively grasp objects than the fully actuated grippers. However, it is challenging for the abovementioned grippers to safely handle soft, fragile, or unfamiliar objects because of the rigid contact surfaces.Recent advances in soft grippers have opened an avenue to overcome the inadequacies of rigid grippers. [10] Compared to rigid grippers, soft grippers are inherently adaptable and safe, and with the aid of smart materials, allow for greater design flexibility in actuation methods, such as light induction, [11] thermal reaction, [12] chemical stimulation, [13] electroactive polymers, [14] and electromagnetic driven. [15] These smart material-actuated grippers are only suitable for gripping micro-objects and operating in specific environments. In contrast, soft pneumatic grippers made of silicone rubbers have better application prospects due to the advantages, such as low cost, robustness, and

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A Soft Robot With Variable Stiffness Multidirectional Grasping Based on a Folded Plate Mechanism and Particle Jamming

Cited by 20 publications

References 30 publications

Variable stiffness soft robotic gripper: design, development, and prospects

Variable stiffness soft robotic gripper: design, development, and prospects

A pneumatic variable stiffness elastic shaft

A Soft Enveloping Gripper with Enhanced Grasping Ability via Morphological Adaptability

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