Control of untethered soft grippers for pick-and-place tasks

Ongaro, Federico; Yoon, ChangKyu; Brink, Frank van den; Abayazid, Momen; Oh, Seung Hyun; Gracias, David H.; Misra, Sarthak

doi:10.1109/biorob.2016.7523642

Cited by 25 publications

(25 citation statements)

References 27 publications

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“…They open and close reversibly due to a lower critical solution temperature (LCST) phase transition and associated swelling or shrinkage in the pNIPAM-AAc layer in response to temperature changes. The range of temperatures used to fold/unfold such grippers is between 24 °C and 27 °C [16]. The submillimeter metallic grippers are composed of pre-stressed chromium/gold self-actuating hinges and a magnetic nickel layer to enable remote manipulation.…”

Section: Resultsmentioning

confidence: 99%

“…The remaining particles are generated by perturbing the previous solution with uniform pseudo-random numbers within a given range. For what concern the initialization of the joints values, we performed a biased initialization by using the temperature information and a simplified version of the hysteresis information presented in [16]. For example, if the temperature is increasing and it is in the range where the gripper will be more likely start folding, we initialize 75% of the swarm by increasing the joints values of a random number within a given range.…”

Section: Particle Swarm Optimizationmentioning

confidence: 99%

“…The majority of prior research estimated the 2D pixel position of the miniaturized agents. Image processing techniques and a standard Kalman filter were used to track the 2D pose of miniaturized hydrogel grippers in [16, 17]. A particle filter was used to track the 2D positions of self-propelled micro-tubes in [18].…”

Section: Introductionmentioning

confidence: 99%

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A GPU-accelerated model-based tracker for untethered submillimeter grippers

Scheggi

Yoon

Ghosh

et al. 2018

Robotics and Autonomous Systems

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Miniaturized grippers that possess an untethered structure are suitable for a wide range of tasks, ranging from micromanipulation and microassembly to minimally invasive surgical interventions. In order to robustly perform such tasks, it is critical to properly estimate their overall configuration. Previous studies on tracking and control of miniaturized agents estimated mainly their 2D pixel position, mostly using cameras and optical images as a feedback modality. This paper presents a novel solution to the problem of estimating and tracking the 3D position, orientation and configuration of the tips of submillimeter grippers from marker-less visual observations. We consider this as an optimization problem, which is solved using a variant of the Particle Swarm Optimization algorithm. The proposed approach has been implemented in a Graphics Processing Unit (GPU) which allows a user to track the submillimeter agents online. The proposed approach has been evaluated on several image sequences obtained from a camera and on B-mode ultrasound images obtained from an ultrasound probe. The sequences show the grippers moving, rotating, opening/closing and grasping biological material. Qualitative results obtained using both hydrogel (soft) and metallic (hard) grippers with different shapes and sizes ranging from 750 microns to 4 mm (tip to tip), demonstrate the capability of the proposed method to track the agent in all the video sequences. Quantitative results obtained by processing synthetic data reveal a tracking position error of 25 ± 7 μm and orientation error of 1.7 ± 1.3 degrees. We believe that the proposed technique can be applied to different stimuli responsive miniaturized agents, allowing the user to estimate the full configuration of complex agents from visual marker-less observations.

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Section: Resultsmentioning

confidence: 99%

Section: Particle Swarm Optimizationmentioning

confidence: 99%

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A GPU-accelerated model-based tracker for untethered submillimeter grippers

Scheggi

Yoon

Ghosh

et al. 2018

Robotics and Autonomous Systems

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“…Our self-rolling up method can also produce hollow 3D structures (e.g., with a spiral shape). We used the deformation of a temperature-responsive hydrogel [23][24][25][26][27][28][29] for self-rolling up. A stimuli-responsive hydrogel, including the temperature-responsive hydrogel, has the advantage of repetitive deformation (i.e., repetition of folding and deployment) being possible after self-folding because it is caused by the swelling and shrinking of the hydrogel.…”

Section: Introductionmentioning

confidence: 99%

“…By using an engineered 2D sheet, rotational symmetry 3D structures can be developed using the rolling up deformation of the temperature-responsive hydrogel. For example, a medical patch moving in the body and deploying at a targeted region can be developed by applying the self-rolling up method and magnetic manipulation [27][28][29][30]. The 3D structures with a small hollow region can produce a larger area despite their smaller volume.…”

Section: Introductionmentioning

confidence: 99%

Self-rolling up micro 3D structures using temperature-responsive hydrogel sheet

Iwata

Miyashita

Iwase

2017

J. Micromech. Microeng.

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This paper proposes a micro self-folding using a self-rolling up deformation. In the fabrication method at micro scale, self-folding is an especially useful method of easily fabricating complex threedimensional (3D) structures from engineered two-dimensional (2D) sheets. However, most self-folded structures are limited to 3D structures with a hollow region. Therefore, we made 3D structures with a small hollow region by self-rolling up a 2D sheet consisting of SU-8 and a temperature-responsive hybrid hydrogel of poly(N-isopropylacrylamide-co-acrylic acid) (pNIPAM-AAc). The temperature-responsive hydrogel can provide repetitive deformation, which is a good feature for micro soft robots or actuators, using hydrogel shrinking and swelling. Our micro self-rolling up method is a self-folding method for a 3D structure performed by rolling up a 2D flat sheet, like making a croissant, through continuous self-folding. We used our method to fabricate 3D structures with a small hollow region, such as cylindrical, conical, and croissant-like ellipsoidal structures, and 3D structures with a hollow region, such as spiral shapes. All the structures showed repetitive deformation, forward rolling up in 20 °C cold water and backward rolling up in 40 °C hot water. The results demonstrate that self-rolling up deformation can be useful in the field of micro soft devices.

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Untethered Microgrippers for Precision Medicine

Zhou,

Zhang,

Liu

et al. 2023

Small

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Microgrippers, a branch of micro/nanorobots, refer to motile miniaturized machines that are of a size in the range of several to hundreds of micrometers. Compared with tethered grippers or other microscopic diagnostic and surgical equipment, untethered microgrippers play an indispensable role in biomedical applications because of their characteristics such as miniaturized size, dexterous shape tranformation, and controllable motion, which enables the microgrippers to enter hard‐to‐reach regions to execute specific medical tasks for disease diagnosis and treatment. To date, numerous medical microgrippers are developed, and their potential in cell manipulation, targeted drug delivery, biopsy, and minimally invasive surgery are explored. To achieve controlled locomotion and efficient target‐oriented actions, the materials, size, microarchitecture, and morphology of microgrippers shall be deliberately designed. In this review, the authors summarizes the latest progress in untethered micrometer‐scale grippers. The working mechanisms of shape‐morphing and actuation methods for effective movement are first introduced. Then, the design principle and state‐of‐the‐art fabrication techniques of microgrippers are discussed. Finally, their applications in the precise medicine are highlighted, followed by offering future perspectives for the development of untethered medical microgrippers.

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Control of untethered soft grippers for pick-and-place tasks

Cited by 25 publications

References 27 publications

A GPU-accelerated model-based tracker for untethered submillimeter grippers

A GPU-accelerated model-based tracker for untethered submillimeter grippers

Self-rolling up micro 3D structures using temperature-responsive hydrogel sheet

Untethered Microgrippers for Precision Medicine

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