Design, modelling and identification of a fiber-reinforced bending pneumatic muscle

Ru, Hongqiang; Huang, Jian; Chen, Wenbin; Chen, Xiong; Wang, Junzhe; Huo, Jun Fang

doi:10.1007/s11432-018-9709-x

Cited by 7 publications

(3 citation statements)

References 9 publications

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“…The results show that besides realizing multi-DoFs motion, the actuator has similar force output characteristics as the fiber reinforced actuator. Ru et al proposed a new kind of fiber-reinforced pneumatic muscle and established a dynamic model of pneumatic muscle by using second-order differential equation [66]. The parameters in the model are identified by visual recognition experiments with a high-speed camera.…”

Section: Pneumatic Fiber Braids and Elastomeric Polymersmentioning

confidence: 99%

“…[56] uses direct control algorithm to control the exoskeleton. In [66], Ru et al utilized the PID and proxy-based sliding mode control (PSMC) to control the soft bending actuator based on visual feedback system, and compared the control effect of the two methods. Huang et al utilized a safe and model-free control strategy, PSMC, to ensure proper control of the exoskeleton [72].…”

Section: Pneumatic Fiber Braids and Elastomeric Polymersmentioning

confidence: 99%

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Soft Rehabilitation and Nursing-Care Robots: A Review and Future Outlook

Peng

Huang

2019

Applied Sciences

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Rehabilitation and nursing-care robots have become one of the prevalent methods for assistant treatment of motor disorder patients in the field of medical rehabilitation. Traditional rehabilitation robots are mostly made of rigid materials, which significantly limits their application for medical rehabilitation and nursing-care. Soft robots show great potential in the field of rehabilitation robots because of their inherent compliance and safety when they interact with humans. In this paper, we conduct a systematic summary and discussion on the soft rehabilitation and nursing-care robots. This study reviews typical mechanical structures, modeling methods, and control strategies of soft rehabilitation and nursing-care robots in recent years. We classify soft rehabilitation and nursing-care robots into two categories according to their actuation technology, one is based on tendon-driven actuation and the other is based on soft intelligent material actuation. Finally, we analyze and discuss the future directions and work about soft rehabilitation and nursing-care robots, which can provide useful guidance and help on the development of advanced soft rehabilitation and nursing-care robots.

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Section: Pneumatic Fiber Braids and Elastomeric Polymersmentioning

confidence: 99%

Section: Pneumatic Fiber Braids and Elastomeric Polymersmentioning

confidence: 99%

Soft Rehabilitation and Nursing-Care Robots: A Review and Future Outlook

Peng

Huang

2019

Applied Sciences

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“…Soft robotics have become the research hotspot in the field of robotics in recent years and are regarded as one of the most promising directions in the future (Guan et al , 2020). They are based on the material science (Polygerinos et al , 2015), mechanism science (Xie et al , 2020) and control science (Ru et al , 2019) and use the mechanical intelligence of the soft materials to obtain safe and efficient motion modes (Xu et al , 2020; He and Zhang, 2014). Therefore, soft robots have the advantages of strong environmental adaptability and safe human–computer interaction (Kanjanapas et al , 2019) and have been widely used in industrial productions (Netzev et al , 2020), medical services (Ge et al , 2020), environmental detections (Wang et al , 2017) and other fields (Pan et al , 2020; Xiao et al , 2021).…”

Section: Introductionmentioning

confidence: 99%

A global, continuous calibration curvature strategy for bending sensors of soft fingers

Gai

Zong

Huang

2022

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Purpose The aim of the paper is to propose a global, automated and continuous curvature calibration strategy for bending sensors, which is used for the angle feedback control of soft fingers. Design/methodology/approach In this work, the proposed curvature calibration strategy for bending sensors is based on the constant curvature bending properties of soft fingers. The strategy is to install the bending sensor on the soft finger and use the laser distance sensor to assist calibration, then calculate the relationship between the curvature and the voltage of the bending sensor through geometric conversion. In addition, this work also develops a full set of standard calibration systems and collection procedures for the bending sensor curvature calibration and uses machine learning algorithms to fit the collected data. Findings First, compared with the traditional calibration methods, the proposed curvature calibration strategy can achieve constant curvature measurement with the advantages of better continuity. Second, using the sensor data obtained by the proposed calibration method as the feedback signal for the soft finger bending angle control, the control effect is better than that of the traditional method. Originality/value This work proposes and verifies a global, automated and continuous curvature calibration strategy for bending sensors and is used for the angle feedback control of soft fingers. In addition, this work also develops a full set of standard calibration systems and collection procedures, which can be applied to a variety of flexible bending sensors with a good adaptability.

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A modular four-modal soft grasping device

Gai

Zong

2022

Sci. China Technol. Sci.

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Design, modelling and identification of a fiber-reinforced bending pneumatic muscle

Cited by 7 publications

References 9 publications

Soft Rehabilitation and Nursing-Care Robots: A Review and Future Outlook

Soft Rehabilitation and Nursing-Care Robots: A Review and Future Outlook

A global, continuous calibration curvature strategy for bending sensors of soft fingers

A modular four-modal soft grasping device

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