Customizable Three-Dimensional-Printed Origami Soft Robotic Joint With Effective Behavior Shaping for Safe Interactions

Yi, Juan; Chen, Xiaojiao; Song, Chaoyang; Zhou, Jianshu; Liu, Yujia; Liu, Sicong; Wang, Zheng

doi:10.1109/tro.2018.2871440

Cited by 63 publications

(31 citation statements)

References 32 publications

Supporting

Mentioning

Contrasting

Order By: Relevance

“…In another compelling demonstration by Ge et al, a quarter‐sized PneuNet‐type three‐legged gripper was prepared by 3D printing (Figure 16c) 337. More recently, Yi et al 3D printed origami soft robot that contains pneumatic chambers capable of carrying a payload (18.5 N m at 180 kPa actuation pressure), and that maintains performance linearity and variable stiffness (Figure 16d) 338. Whitesides, Lewis, Wood, and co‐workers fabricated a unique, complex soft robotic device in which direct ink writing (DIW) manufacturing allows for the integration—at the point of printing—of an array of microfluidic hydraulic chambers for platinum‐catalyzed locomotion within a silicone octobot actuator (Figure 16e) 293.…”

Section: Pneumatics and Hydraulicsmentioning

confidence: 99%

See 1 more Smart Citation

Materials as Machines

2020

View full text Add to dashboard Cite

of responsive materials as machines is in robotics. The vision, leadership, and research of Bar-Cohen is seminal in both invigorating and focusing current-day research activities to develop responsive materials [2] and implement [3] them as lightweight, dexterous, and gentle (e.g., soft) robotic elements. In this spirit, this review exhaustively details the materials, the nature of their stimuli-response, and discusses considerations for their implementation in robotic systems and subsystems.Robotics is a well-established but growing field of research. Sustained progress in both performance and functionality continue to be realized in commercial robotic systems largely based on conventional materials and their integration with mechanisms. A recent example is the Atlas robot from Boston Dynamics [4] (Figure 1a). The incorporation of stimuli-responsive materials in robotics has largely focused on component-level demonstrations to extend the performance of a subsystem (such as a hand or gripper).Stimuli-responsive materials, spanning nearly all classes of materials and size scales, are currently subject to widespread examination in corporate, government, and academic research laboratories (Figure 1b-d). [5][6][7] In some cases, these materials have already found widespread commercial implementation in end use and are comparatively mature. The materials and fundamentals of their responses are summarized in Figure 2. Shape memory alloys (SMAs) and ceramic piezoelectric materials are distinctive in that they are hard, stimuli-responsive materials. Deformation of these materials can produce large energy densities due to their inherent stiffness. Electroactive polymers (EAPs) remain a topic of considerable interest, particularly dielectric elastomer actuators (DEAs). Engineered systems are rapidly emerging and enabling performance gains in robotics, largely based on pneumatic or fluidic (such as HASEL [8] actuators) transport processes that localize deformation to generate force or produce motion. Soft materials, such as shape memory polymers (SMPs), hydrogels, and liquid crystalline polymer networks (LCNs) and elastomers (LCEs) may offer distinctive functional performance to robotic systems in allowing local control of deformation without the need for complex interfacing with mechanisms. As will be evident, each of these materials has inherent advantages and performance tradeoffs that must be considered in functional implementations. However, responsive material systems have a common obstacle to widespread use: the performance and Machines are systems that harness input power to extend or advance function. Fundamentally, machines are based on the integration of materials with mechanisms to accomplish tasks-such as generating motion or lifting an object. An emerging research paradigm is the design, synthesis, and integration of responsive materials within or as machines. Herein, a particular focus is the integration of responsive materials to enable robotic (machine) functions such as gripping, lifting, or motility (walk...

show abstract

Section: Pneumatics and Hydraulicsmentioning

confidence: 99%

Section: Pneumatics and Hydraulicsmentioning

confidence: 99%

Materials as Machines

2020

View full text Add to dashboard Cite

show abstract

“…In terms of the structure, we constructed the soft actuator with two antagonistic V-shape circle-round-type bellows chambers. [32][33][34][35][36][37] Among inflated soft robotic actuators, bellows chambers have been widely employed for their simplicity and sensitivity to single-DoF deformation. [38][39][40][41][42][43] The bellows chambers used in this study concentrate elongation/ contraction motion in the axial direction.…”

Section: Antagonistic Design Of a Soft Actuator With Bellows Structurementioning

confidence: 99%

Mechanoreception for Soft Robots via Intuitive Body Cues

Wang

2020

Soft Robotics

Self Cite

View full text Add to dashboard Cite

Mechanoreception, the ability of robots to detect mechanical stimuli from the internal and external environments, contributes significantly to improving safety and task performance during the operation of robots in unstructured environments. Various approaches have been proposed to endow robot systems with mechanoreception. In the case of soft robots, the state-of-the-art mechanosensory solutions typically embedded dedicated deformable sensors into the soft body, giving rise to fabrication complexity and signal sophistication. In this study, we propose a novel mechanoreception scheme to enable pneumatic-driven soft robots to perceive proprioceptive movements as well as external contacts. Both internal and external mechanical parameters can be decoded from intuitive cues of body deformation and pneumatic pressure signals. In contrast to most existing solutions employing dedicated deformable sensors, the proposed approach only utilizes pressure feedback, which is typically available from the pneumatic pressure sensors incorporated in the control loop of most pneumatic soft robots. The concept was implemented and validated on a proprietary robotic gripper with a linear soft pneumatic actuator, demonstrating the capability in simultaneous detection of actuator position and external contact forceAfter the proposed approach, the gripper can achieve both active and passive mechanosensation, with demonstrated experiments in grasping force estimation, contact loss detection, object stiffness identification, and contour measurements. This approach offers an alternative route to achieving excellent internal/environmental awareness without requiring dedicated sensing modalities.

show abstract

“…However, there are severe limitations for touch-screen UI, from not being able to provide user motion data, to only detecting user command with a pre-defined set of items. Given that soft robotics has become a new trend to design and fabricate robots from a very distinctive approach than conventional robotics (Yi et al, 2018), we propose to use a soft robotic layer to be the user interface in constructing the handles due to its inherent safety (lack of rigid components) (Chen et al, 2018) and intelligence add-ons. To measure user intention and detect emergency event (e.g., falling) in a timely manner, we embed a sensor network inside the soft chamber to monitor force pressure on the handles.…”

Section: Introductionmentioning

confidence: 99%

A Smart Robotic Walker With Intelligent Close-Proximity Interaction Capabilities for Elderly Mobility Safety

et al. 2020

Self Cite

View full text Add to dashboard Cite

The elderly population has rapidly increased in past years, bringing huge demands for elderly serving devices, especially for those with mobility impairment. Present assistant walkers designed for elderly users are primitive with limited user interactivity and intelligence. We propose a novel smart robotic walker that targets a convenient-to-use indoor walking aid for the elderly. The walker supports multiple modes of interactions through voice, gait or haptic touch, and allows intelligent control via learning-based methods to achieve mobility safety. Our design enables a flexible, initiative and reliable walker due to the following: (1) we take a hybrid approach by combining the conventional mobile robotic platform with the existing rollator design, to achieve a novel robotic system that fulfills expected functionalities; (2) our walker tracks users in front by detecting lower limb gait, while providing close-proximity walking safety support; (3) our walker can detect human intentions and predict emergency events, e.g., falling, by monitoring force pressure on a specially designed soft-robotic interface on the handle; (4) our walker performs reinforcement learning-based sound source localization to locate and navigate to the user based on his/her voice signals. Experiment results demonstrate the sturdy mechanical structure, the reliability of multiple novel interactions, and the efficiency of the intelligent control algorithms implemented. The demonstration video is available at: https://sites.google.com/view/smart-walker-hku.

show abstract

Customizable Three-Dimensional-Printed Origami Soft Robotic Joint With Effective Behavior Shaping for Safe Interactions

Cited by 63 publications

References 32 publications

Materials as Machines

Materials as Machines

Mechanoreception for Soft Robots via Intuitive Body Cues

A Smart Robotic Walker With Intelligent Close-Proximity Interaction Capabilities for Elderly Mobility Safety

Contact Info

Product

Resources

About