Analysis on nonlinear turning motion of multi-spherical soft robots

Fei, Yanqiong; Pang, Wu

doi:10.1007/s11071-016-3282-3

Cited by 13 publications

(10 citation statements)

References 16 publications

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“…The other kind of constraint is the movement between the joints and fingers. For example, except the thumb, the other four fingers also influence each other when moving [37]. According to the data, although the range of motion of the hand joints varies with each individual, there is generally a general range [38].…”

Section: A Design Requirementsmentioning

confidence: 98%

A Composite Fabric-Based Soft Rehabilitation Glove With Soft Joint for Dementia in Parkinson’s Disease

Chen

Tan

Yan

et al. 2020

IEEE J. Transl. Eng. Health Med.

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A kind of wearable exoskeleton soft rehabilitation glove is proposed for the dementia in Parkinson's disease (PD) patients with loss of hand function, limited range of motion, and insufficient finger muscle strength to carry out rehabilitation exercise training in a passive or auxiliary way. A novel soft joint structure based on composite fabric material is introduced for the design of the soft glove with bionic method, and experiments are conducted to verify the effeteness of the proposed soft rehabilitation glove. The test results showed that when the fluid pressure was 0.42 MPa, the joint angle of MCP, PIP and DIP could be up to 81 • , 98 • , 72 • , and produce output torque of 1.18Nm, 1.44Nm and 1.82Nm respectively, which meets the requirements of the hand rehabilitation. A dynamic rehabilitation-training test of the rehabilitation glove was also carried out, and the results showed that the movement frequency of soft fingers could reach 30 times/min, which is sufficient for repetitive flexion/extension exercise. In order to verify the grasping characteristics of the soft glove for irregular objects, experiments were carried out. The experimental results showed that the bionic soft glove was dexterous in grasping, which conforms to the universal grasping characteristics of human hands, has the function of assisting daily life (ADL), and meets the requirements of rehabilitation.

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Section: A Design Requirementsmentioning

confidence: 98%

A Composite Fabric-Based Soft Rehabilitation Glove With Soft Joint for Dementia in Parkinson’s Disease

Chen

Tan

Yan

et al. 2020

IEEE J. Transl. Eng. Health Med.

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“…Step (1): the original state, step (2): the link A is inflated, step (3): the links A and B are both inflated, step (4): the link A is deflated, and the link B is inflated, step (5): links A and B are all deflated. The time of a motion cycle is 7.5 s. The robot movement process 26,27 at different timings is shown in Fig. 25.…”

Section: Crawling Experiments Of the Earthworm-like Soft Robotmentioning

confidence: 99%

Development of a New Multi-cavity Pneumatic-driven Earthworm-like Soft Robot

Tang¹,

Lu²,

Wang³

et al. 2020

Robotica

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SUMMARY This paper presents a soft robot which can imitate the crawling locomotion of an earthworm. Locomotion of the robot can be achieved by expanding and contracting the body that is made of flexible material. A link of the earthworm-like robot is combined with three modules, and a multi-cavity earthworm-like soft robot is combined with multiple links. The multiple links of the earthworm-like soft robot are fabricated by silicone in the three-dimensional printed customized molds. Experiments on a single module, two-links, and three-links show that the soft robot can move and bend on condition of modules extension and contraction in a specified gait. The development of the earthworm-like soft robot shows a great prospect in many complicated environments such as pipeline detection.

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“…In the soft-robotics field, recent studies show the propulsion of elastic structures embedded with internal cavities while controlling pressures or flow rates at the network's inlets (Fei & Gao 2014;Overvelde et al 2015;Fei & Pang 2016;Gamus et al 2017;Gorissen et al 2019;Siefert et al 2019;Ben-Haim et al 2020;Salem et al 2020). In the case of fluidic actuation, several works study variations of the well known 'two-balloon system', whereas others study networks of multiple connected chambers (Treloar 1975;Dreyer, Müller & Strehlow 1982;Glozman et al 2010;Ben-Haim et al 2020).…”

Section: Introductionmentioning

confidence: 99%

Viscous flow fields in hyperelastic chambers

Ben-Haim

Ilssar

et al. 2022

J. Fluid Mech.

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Viscous flows in hyperelastic chambers are relevant to many biological phenomena such as inhalation into the lung's acinar region, and medical applications such as the inflation of a small chamber in minimally invasive procedures. In this work, we analytically study the viscous flow and elastic deformation created due to inflation of such spherical chambers from one or two inlets. Our investigation considers the shell's constitutive hyperelastic law coupled with the flow dynamics inside the chamber. For the case of a narrow tube filling a larger chamber, the pressure within the chamber involves a large spatially uniform part, and a small-order correction. We derive a closed-form expression for the inflation dynamics, accounting for the effect of elastic bistability. Interestingly, the obtained pressure distribution shows that the maximal pressure on the chamber's surface is greater than the pressure at the entrance to the chamber. The calculated series solution of the velocity and pressure fields during inflation is verified by using a fully coupled finite element scheme, resulting in excellent agreement. Our results allow the estimation of the chamber's viscous resistance at different pressures, thus enabling us to model the process of inflation and deflation.

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Analysis on nonlinear turning motion of multi-spherical soft robots

Cited by 13 publications

References 16 publications

A Composite Fabric-Based Soft Rehabilitation Glove With Soft Joint for Dementia in Parkinson’s Disease

A Composite Fabric-Based Soft Rehabilitation Glove With Soft Joint for Dementia in Parkinson’s Disease

Development of a New Multi-cavity Pneumatic-driven Earthworm-like Soft Robot

Viscous flow fields in hyperelastic chambers

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