Development of a Pneumatic Artificial Muscle Based on Biomechanical Characteristics

Saga, Norihiko; Saikawa, T.

doi:10.1163/156855308x305317

Cited by 15 publications

(5 citation statements)

References 5 publications

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“…"Curion" for crop scouting, "Lumion" for fighting powdery mildew on strawberries, "Fluxion" for the logistic handling of storage crates). An autonomous strawberry harvester mounted on their robotic platform "Thorvald" is tested by SAGA Robotics [253] as well. The Thorvald robot, in particular Thorvald I [248] and the further developed Thorvald II [254], is an innovative module-based robot that allows for different robots to be build utilizing the same basic modules, hence addressing a variety of agricultural applications (e.g.…”

Section: Related Commercial Productsmentioning

confidence: 99%

A Survey of Robotic Harvesting Systems and Enabling Technologies

Δρούκας

Doulgeri

Tsakiridis

et al. 2023

J Intell Robot Syst

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This paper presents a comprehensive review of ground agricultural robotic systems and applications with special focus on harvesting that span research and commercial products and results, as well as their enabling technologies. The majority of literature concerns the development of crop detection, field navigation via vision and their related challenges. Health monitoring, yield estimation, water status inspection, seed planting and weed removal are frequently encountered tasks. Regarding robotic harvesting, apples, strawberries, tomatoes and sweet peppers are mainly the crops considered in publications, research projects and commercial products. The reported harvesting agricultural robotic solutions, typically consist of a mobile platform, a single robotic arm/manipulator and various navigation/vision systems. This paper reviews reported development of specific functionalities and hardware, typically required by an operating agricultural robot harvester; they include (a) vision systems, (b) motion planning/navigation methodologies (for the robotic platform and/or arm), (c) Human-Robot-Interaction (HRI) strategies with 3D visualization, (d) system operation planning & grasping strategies and (e) robotic end-effector/gripper design. Clearly, automated agriculture and specifically autonomous harvesting via robotic systems is a research area that remains wide open, offering several challenges where new contributions can be made.

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Section: Related Commercial Productsmentioning

confidence: 99%

A Survey of Robotic Harvesting Systems and Enabling Technologies

Δρούκας

Doulgeri

Tsakiridis

et al. 2023

J Intell Robot Syst

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“…In order to improve the flexibility and compliance of the robot hand, many researchers have developed the PAM (Pneumatic Artificial Muscle) [1,2] to drive the joints, and various dexterous hands. They have deeply studied the structure, kinematics and dynamics on the robot hand and have made a definite progress so far.…”

Section: Instructionmentioning

confidence: 99%

Structural Design and Position and Posture Analysis of Five-Fingered Robot Hand Based on Pneumatic Flexible Joint

Geng

Zhao

Zhang

et al. 2010

AMM

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Design and analysis of a five-fingered robot hand is presented. The robot hand has five multi-actuated fingers each with three flexible joints. Each joint is designed using a novel flexible mechanism based on elongation pneumatic artificial muscle. Its high flexibility and inherent compliance make them ideally suited for delicate tasks, e.g. grasp, pinch, and nip. Furthermore, this paper established the mathematical models to simulate the behavior of grasping; get the relationship between air pressure as well as position and posture of fingers. In view of all characteristics five-fingered robot hands are very well suited for automation and robotic applications.

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“…However, it lacked durability because the nylon fibers placed around the rubber would rub and break during driving. Moreover, highly compressed air was necessary to drive it [10][11][12].…”

Section: Introductionmentioning

confidence: 99%

Smart Pneumatic Artificial Muscle Using a Bend Sensor like a Human Muscle with a Muscle Spindle

Saga

Shimada

Inamori

et al. 2022

Sensors

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Shortage of labor and increased work of young people are causing problems in terms of care and welfare of a growing proportion of elderly people. This is a looming social problem because people of advanced ages are increasing. Necessary in the fields of care and welfare, pneumatic artificial muscles in actuators of robots are being examined. Pneumatic artificial muscles have a high output per unit of weight, and they are soft, similarly to human muscles. However, in previous research of robots using pneumatic artificial muscles, rigid sensors were often installed at joints and other locations due to the robots’ structures. Therefore, we developed a smart actuator that integrates a bending sensor that functions as a human muscle spindle; it can be externally attached to the pneumatic artificial muscle. This paper reports a smart artificial muscle actuator that can sense contraction, which can be applied to developed self-monitoring and robot posture control.

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Development of a Pneumatic Artificial Muscle Based on Biomechanical Characteristics

Cited by 15 publications

References 5 publications

A Survey of Robotic Harvesting Systems and Enabling Technologies

A Survey of Robotic Harvesting Systems and Enabling Technologies

Structural Design and Position and Posture Analysis of Five-Fingered Robot Hand Based on Pneumatic Flexible Joint

Smart Pneumatic Artificial Muscle Using a Bend Sensor like a Human Muscle with a Muscle Spindle

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