Echinoderm Inspired Variable Stiffness Soft Actuator with Connected Ossicle Structure

Jeong, Hwayeong; Kim, Jung

doi:10.1109/icra.2019.8793545

Cited by 12 publications

(3 citation statements)

References 13 publications

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“…Therefore, in the study [21], the design of a soft actuator is based on a starfish. The starfish is composed of elements such as connective tissue, calcite bone, and interosseous muscle, which allows it to regulate the structural stiffness of its body actively [22]. Since the movement of the elastic body of the actuator depends on the deformation of the tissue, especially the characteristics of the material used in its construction, this stage compensates for two anisotropic tissues (woven tissue and elastic tissue) and elastomer (silica gel) to develop a contractor and an extensor, respectively.…”

Section: Literature Reviewmentioning

confidence: 99%

Movement Monitoring System for a Pneumatic Muscle Actuator

Sokolov

Hosŏvský

Ivanov

et al. 2023

JES

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Recent advancements in soft pneumatic robot research have demonstrated these robots’ capability to interact with the environment and humans in various ways. Their ability to move over rough terrain and grasp objects of irregular shape, regardless of position, has garnered significant interest in developing new pneumatic soft robots. Integrating industrial design with related technologies holds great promise for the future, potentially bringing about a new lifestyle and revolutionizing the industry. As robots become increasingly practical, there is a growing need for sensitivity, robustness, and efficiency improvements. It is anticipated that the development of these intelligent pneumatic soft robots will play a critical role in serving the needs of society and production shortly. The present article is concerned with developing a system for monitoring a pneumatic robot’s parameters, including a spatial coordinate system. The focus is on utilizing the relationship between the coordinates and pressure to model the movement of the soft robot within the MATLAB simulation environment.

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Section: Literature Reviewmentioning

confidence: 99%

Movement Monitoring System for a Pneumatic Muscle Actuator

Sokolov

Hosŏvský

Ivanov

et al. 2023

JES

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“…Furthermore, they have developed three machine grips FRST actuators with flexibility and adaptability, which gripe stiffness can be increased by 120 times. 29 The Korea Institute of Science and Technology has developed a new type of variable stiffness structure designed by the acoustic small bone junction structure of echinoderms. The structure of echinoderms will cause stiffness changes.…”

Section: Introductionmentioning

confidence: 99%

Research development of soft manipulator: A review

Zhang

2014

Advances in Mechanical Engineering

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The development of robotic interaction is becoming an increasing topic. The excellent grasp ability of low safety and fragile objects will greatly solve the complex labour of people. Rigid actuation have made significant progress for manufacturing and automation assembly, but it lacks of excellent interaction ability for humans and unstructured environments. Soft manipulator is the basic part of man-machine safety cooperation, which can make up for the deficiency. This paper describes the current research status of soft manipulator, driving methods, structures of soft manipulator and principles. Then, we specially show the joint fluid-elastic pneumatic drive, which enables control bending of different joints of the fingers. A detailed classification and principle description of intelligent materials is made for the flexible hands application. In addition, the principle of two new driving modes: biological driving and gas-liquid driving are presented. The performance of different driving modes is compared in detail, and the advantages and disadvantages of different pneumatic driving modes are listed. Finally, we make some prediction for the application prospect of soft manipulator in the future. The practical application and key problems of soft manipulator are summarised endly.

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“…In view of the limitations in the above research, our design of the soft actuator is based on starfish, because starfish consists of special features, including connective tissue, calcite bone and interosseous muscle [18], which allows it to actively regulate the structural stiffness of its body. Since the movement of the elastic body of the actuator depends on the deformation of the fabric, especially the characteristics of the material used in its construction, this article combines two anisotropic fabrics (woven fabric and elastic fabric) and elastomer (silica gel) to design contractor and extensor respectively.…”

mentioning

confidence: 99%

Novel Design and Modeling of a Soft Pneumatic Actuator Based on Antagonism Mechanism

2020

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The soft actuator possesses the characteristics of flexibility, environmental adaptability, and human–machine interaction. Firstly, aiming to resolve the limitation of variable stiffness performance of a traditional pneumatic artificial muscle (PAM) actuator, based on the antagonistic mechanism of extensor and contractor muscles, a novel pneumatic soft actuator coupled of extensor and contractor muscles is proposed in this paper. The actuator can perform the compound action of elongation/contraction, and the stiffness of it can be controlled by adjusting the elongation and contraction forces. Secondly, based on the deformation principle of woven and elastic fabric layers, the mechanical characteristics model of the actuator is established and simulated. The mechanical properties of the actuator are tested under different pressures and deformation displacement and the variable stiffness characteristics of the actuator are verified. Finally, actuators are utilized to manufacture a soft mechanical manipulator, which can achieve variable stiffness in a fixed bending attitude.

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Echinoderm Inspired Variable Stiffness Soft Actuator with Connected Ossicle Structure

Cited by 12 publications

References 13 publications

Movement Monitoring System for a Pneumatic Muscle Actuator

Movement Monitoring System for a Pneumatic Muscle Actuator

Research development of soft manipulator: A review

Novel Design and Modeling of a Soft Pneumatic Actuator Based on Antagonism Mechanism

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