Development of an Anthropomorphic Soft Manipulator with Rigid-Flexible Coupling for Underwater Adaptive Grasping

Ji, Hui; Lan, Yu; Nie, Songlin; Huo, Linfeng; Yin, Fanglong; Hong, Ruidong

doi:10.1089/soro.2022.0215

Cited by 5 publications

(1 citation statement)

References 38 publications

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“…concept can be encountered in many different applications [1,2], such as in the bio-inspired soft robotics [3][4][5][6], artificial muscles [7][8][9], morphing structures [10], microrobots [11], soft wearable designs-robots [12][13][14] or soft grippers [8,[15][16][17][18], and origami structures [16,19,20]. Also, soft robotic technology advances into the future by integrating with innovative sensory feedback systems [21] and laminar designs that improve its functionality [22].…”

Section: Introductionmentioning

confidence: 99%

Development of a novel two-way 3D printed flexible spiral composite actuator based on shape memory alloy wire and its control

Önder,

Sümer,

Başlamişli

2024

Smart Mater. Struct.

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Soft robotics find its applications across numerous of scientific and industrial fields, spanning from medicine and surgery to gripper technology, assistive devices, and exploration in underwater and space. The study introduces a soft actuator design for soft robotics, produced using 3D printing technology, offering an efficient alternative to traditional molding and curing methods. A shape memory alloy wire is integrated to the spiral body printed using a flexible filament. The spiral enhances the actuation stroke (AS) to 2 cm for a wire of 189 mm in length, while actuation in the literature is typically accomplished through an axial AS of 3%–5% of the wire’s length. Four types of spirals with increasing gaps are prepared to observe the cooling effect. Their performances are evaluated in terms of AS and time through image processing in order to determine the optimal configuration. An electrical current constraint is established to prevent potential damage, and spiral control is attained using a proportional–integral–derivative controller. Moreover, a pick and place operation showcases the spiral’s ability to autonomously lift a gripped object weighing 6.5 g, achieving a specific displacement of 6.5 mm. Subsequently, the object is lifted down to its initial position using a two-way actuator that utilizes the stored energy within the spiral’s structure and elastic effect. The proposed actuator has the potential to be widely applied across various soft robotic applications, including medical robots, delicate gripping robots, and bioinspired robots.

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Section: Introductionmentioning

confidence: 99%

Development of a novel two-way 3D printed flexible spiral composite actuator based on shape memory alloy wire and its control

Önder,

Sümer,

Başlamişli

2024

Smart Mater. Struct.

View full text Add to dashboard Cite

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Large-range dynamic characteristic adjustment of high-speed on-off valve for water hydraulic manipulators based on multistage voltage and double sliding mode control

Yang,

Hu,

et al. 2025

Measurement

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Torque-Sensing Soft Bellows Actuator for Multi-Fingered Hands Taking Bellow’s Buckling Into Consideration

Higashi,

Koyama,

Ozawa

et al. 2023

IEEE Access

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Soft multi-fingered robotic hands are safe in human environments and can perform human-like behaviors. However, structural complexities and nonlinearities in soft actuators complicate torque sensing, a critical function for dexterous object manipulation. This study introduces a torque-sensing finger joint mechanism using a soft actuator composed of water-powered hydraulic bellows. Two real-time torque estimation methods are proposed, developed, and validated specifically for cases in which buckling occurs in the bellows, a situation that typically presents significant estimation challenges. The buckling spring model for torque estimation, explicitly considering the buckling effect, is a linear model that considers two elastic forces for the pressure and external force. The multi-layer perceptron model for torque estimation considers the nonlinearity of the actuator. The experimental results show that both methods can estimate the torque in real-time with high accuracy. The torque control for grasping fragile objects has also been examined in real-world scenarios. The findings indicate that, compared to the approach without torque control, successful and safe manipulation of the target objects is accomplished without causing detrimental deformation.

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Development of an Anthropomorphic Soft Manipulator with Rigid-Flexible Coupling for Underwater Adaptive Grasping

Cited by 5 publications

References 38 publications

Development of a novel two-way 3D printed flexible spiral composite actuator based on shape memory alloy wire and its control

Development of a novel two-way 3D printed flexible spiral composite actuator based on shape memory alloy wire and its control

Large-range dynamic characteristic adjustment of high-speed on-off valve for water hydraulic manipulators based on multistage voltage and double sliding mode control

Torque-Sensing Soft Bellows Actuator for Multi-Fingered Hands Taking Bellow’s Buckling Into Consideration

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