An under actuated robotic arm with adjustable stiffness shape memory polymer joints

Firouzeh, Amir; Salehian, Seyed Sina Mirrazavi; Billard, Aude; Paik, Jamie

doi:10.1109/icra.2015.7139539

Cited by 32 publications

(27 citation statements)

References 18 publications

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“…To regulate its temperature, we embedded a 70 µm thick stretchable heater in the SMP layer. The fabrication process of the heater and its integration with SMP are presented in [18]. The overview of this process is presented in Fig.…”

Section: The Asl Construction and Its Stiffness Variation With Tmentioning

confidence: 99%

“…Compared to the designs that are based on motors and mechanisms, using material properties results in a more compact and scalable design. The glass transition in thermoplastics [18]- [22], Jamming [23]- [25], and phase change of wax [26] and metals [27], [28] are among the different methods [29] that use material properties for controlling the stiffness of the structure.…”

Section: Introductionmentioning

confidence: 99%

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Stiffness Control With Shape Memory Polymer in Underactuated Robotic Origamis

2017

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Abstract-Under-actuated systems offer compact designs with easy actuation and control but at the cost of limited stable configurations and reduced dexterity compared to the directly driven and fully actuated systems. Here, we propose a compact origami-based design to control the stable configurations and the overall stiffness of an under-actuated robotic finger by modulating the material stiffness of the joint. The design of the robotic finger is based on the robotic origami design principle in which multiple functional layers are integrated to make a nominally 2D robot with a desired functionality. To control the stiffness of the structure, we controlled the elastic modulus of a shape memory polymer (SMP) via embedded customized stretchable heater. We monitor the configuration of the finger using the feedback from the customized curvature sensors embedded in each joint. We studied the stable configurations and the contact forces of a finger with 3 joints at different stiffness settings. A scaled down version of the design was used in a gripper with two fingers and different grasp modes were demonstrated through activating different set of joints.

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Section: The Asl Construction and Its Stiffness Variation With Tmentioning

confidence: 99%

Section: Introductionmentioning

confidence: 99%

Stiffness Control With Shape Memory Polymer in Underactuated Robotic Origamis

2017

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“…A more attractive solution allowing the possiblity of miniaturization and segmented heating is to use stretchable heating elements. Here we use a stretchable heater made of patterned metalpolyimide laminate that can be processed in large areas with very high accuracy [14]. In the heater presented in Fig.…”

Section: A Test Sample Design and Fabricationmentioning

confidence: 99%

“…Next, the outline of the sample is cut according to the desired pattern. A detailed report on the fabrication process of the SMP layer with embedded heater can be found in [14]. We have embedded three thermistors (SMD 0402 from Vishay) in the test sample one in the middle of the heating element and two on the border of the stretchable area to monitor the temperature during tests and tune the driving voltage accordingly.…”

Section: A Test Sample Design and Fabricationmentioning

confidence: 99%

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Soft pneumatic actuator with adjustable stiffness layers for Multi-DoF Actuation

Firouzeh

Salerno

Paik

2015

2015 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)

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Abstract-The soft pneumatic actuators (SPAs) are a solution toward the highly customizable and light actuators with the versatility of actuation modes, and an inherent compliance. Such flexibility allows SPAs to be considered as alternative actuators for wearable rehabilitative devices and search and rescue robots. In applications that require a high compliance for safety and a fluid interactivity, the SPAs material-based softness returns an inherent back-drivability. One of the main challenges that limits the wide application of SPAs is in the complexity of miniaturizing the actuators and embedding additional degree of freedoms (DoFs) in a single actuator. We present a novel design and fabrication method of a SPA with different modes of actuation using adjustable stiffness layers (ASLs). Unlike conventional SPA designs where one independent chamber is needed for each mode of actuation, here we have a single chamber that drives three different modes of actuation by activating different combinations of ASLs. By using customized micro heaters and thermistors for controlling the temperature and stiffness of ASLs in increments, we considerably broaden the work space of the SPA actuator. Here, a thorough characterization of the materials and the modeling of the actuator are presented. In the conclusion, we propose a design methodology for developing application specific actuators with multi-DoFs that are light and compact.

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Continuum Robots: An Overview

Russo

Sadati

Dong

et al. 2023

Advanced Intelligent Systems

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When thinking of robots, the image that immediately springs to mind is either an android, designed to resemble human beings and mimic their behavior, or an industrial manipulator, for example, a large machine of rigid steel working in an assembly line. However, robotic systems of multiple forms have been developed to carry out the most diverse tasks, with designs that evolved from readily available structures, such as vehicles, or inspired by nature. In the last decade, more and more bioinspired designs have been enabled by advances in computer science, materials, and manufacturing. Among them, continuum robots, inspired by snakes, trunks, and tendrils, are characterized by a compliant backbone capable of continuous bending, whose shape (configuration, i.e., position and orientation along the backbone curve) is controlled by applying loads through onboard "intrinsic" actuators (e.g., pneumatics or hydraulics) or transmission elements (e.g., tendons, rods, or compliant tubes) that are pushed/pulled from an extremity of the backbone ("extrinsic actuation"). These robots have flexible bodies with a high length to cross-section diameter ratio and are uniquely suited to tasks that require the deployment of tools or sensors with a long reach into tortuous and narrow paths. [1] Continuum robots were first developed in the 1960s [2] and rose to prominence in the late 1990s, [3] when they were often called elephant trunk, [4] tentacle/tendril, [5] or flexible [6] manipulators. Whereas other robots were characterized by intrinsic actuation and larger sizes, research on continuum robots first focused on miniaturization for medical applications, [7,8] leading to extrinsic actuation to enable leaner designs. Recently, continuum robots have been developed for a wider range of applications, including manufacturing, aerospace, search and rescue, and nuclear. In such scenarios, the infinite degrees of freedom (DoFs) of these slender robots enable inspection and intervention in areas that cannot be accessed by conventional robots (e.g., tunnels [9] and gas turbines [10] ).An exhaustive literature search (see Appendix) outlines a surging interest in continuum robots, with a 19.6% average annual growth in publications between 2012 and 2021 (continuum robot search on Web of Science). Three main topics can be observed in recent literature surveys, listed in Table 1. DesignTendon-driven and concentric tube robots are predominant in surveys, but they are not the only design solutions. [18] This richer literature can be attributed to intense research effort toward medical and other small-scale applications when compared to larger-scale tasks (e.g., manipulation) where intrinsic actuation is advantageous.

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An under actuated robotic arm with adjustable stiffness shape memory polymer joints

Cited by 32 publications

References 18 publications

Stiffness Control With Shape Memory Polymer in Underactuated Robotic Origamis

Stiffness Control With Shape Memory Polymer in Underactuated Robotic Origamis

Soft pneumatic actuator with adjustable stiffness layers for Multi-DoF Actuation

Continuum Robots: An Overview

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