Gesture based control of IPMC actuated gripper

Chattaraj, Ritwik; Bhattacharya, Srijan; Roy, Abhijit Guha; Mazumdar, Abhra; Bepari, Bikash; Bhaumik, Subhasis

doi:10.1109/raecs.2014.6799500

Cited by 7 publications

(3 citation statements)

References 18 publications

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“…This constraint can be easily addressed by utilizing high frequency transmission range. On the other hand, when comparing to Chattaraj et al [16] and Bhattachary et al [17]., our work scores well with the maximum deflection (mm) per unit IPMC area (mm 2 ) ratio of 0.041 (mm) −1 due to the small footprint of the IPMC microgripper. Moreover, compared with aforementioned microgripper, this project develops integration effort where no external bulky clamper is needed to fix the IPMC microgripper while offering superb device mobility.…”

Section: Application Of Microgrippersupporting

confidence: 85%

“…Due to these advantages, there are development efforts using IPMC as actuator in several applications, especially in biomedical fields such as actuating joints of robotic surgery instrument [14] and mimicking organism functionality through its robotic functions [15]. IPMC-based microgrippers have been reported to be used in micromanipulation applications [16][17][18]. In these reports, the microgrippers were designed with two identical active IPMC-based finger clamped with external holders.…”

Section: Introductionmentioning

confidence: 99%

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Wireless-powered electroactive soft microgripper

Cheong

Teo

Leow

et al. 2018

Smart Mater. Struct.

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This paper presents a wireless powered single active finger ionic polymer metal composite (IPMC) based microgripper that is operated using external radio-frequency (RF) magnetic field for biological cell manipulation application. A unimorph-like active finger is fabricated by integrating the IPMC actuator to the planar resonant LC receiver and DC rectifier circuits (made of flexible double-sided copper clad polyimide). The finger activated when the device is exposed to the external magnetic field generated by transmitter circuit that matches the resonant frequency of LC receiver circuit, ∼13.6 MHz in magnetic resonant coupling power transfer mechanism. The fabricated prototype shows a maximum IPMC deflection of 0.765 mm (activation force of 0.17 mN) at the RF power of 0.65 W with 3.5 V DC supplied from the LC receiver circuit. Three repeated ON-OFF wireless activation cycle was performed with the reported cumulative deflection of 0.57 mm. The cumulative deflection was increased to 1.17 mm, 1.19 mm and 1.24 mm for three different samples respectively at 5 V DC supplied. As a proof of concept, fish egg was used to represent the biological cell manipulation operation. The microgripper successfully gripped the fish egg sample without any damages. The experiments result validates the effectiveness of wireless RF soft microgripper towards the target application.

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Section: Application Of Microgrippersupporting

confidence: 85%

Section: Introductionmentioning

confidence: 99%

Wireless-powered electroactive soft microgripper

Cheong

Teo

Leow

et al. 2018

Smart Mater. Struct.

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“…Soft robotic grippers can perform complex tasks in the uncertain environments, where it is difficult for rigid-bodied manipulators to complete flexibly. For example, a soft pneumatic gripper was successfully applied to collect multiple irregular shaped seafood animals of different sizes and stiffness at the bottom of the natural oceanic environment 2 ; a soft pneumatic gripper can recognize the sizes of objects and sort the objects with different sizes 3 ; a soft gripper actuated by ionic polymermetal composite can manipulate micro object less than 1 mm in diameter and macro-sized object within 10 mm diameter 4 ; a shape-memory alloy (SMA)-based soft gripper can actively achieve multiple postures to grasp objects with deformable shapes and varying shapes with a large range of weight. 5 Usually, soft robotic grippers are actuated by different actuation techniques, for example, pneumatic actuation, 3,[6][7][8] cable-driven actuation, 9,10 electroactive polymer (EAP, an abbreviation for electroactive polymers, which can change its shape or size in response to electrical stimulation.)…”

Section: Introductionmentioning

confidence: 99%

A novel design of shape-memory alloy-based soft robotic gripper with variable stiffness

Liu

Hao

Zhang

et al. 2020

International Journal of Advanced Robotic Systems

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Soft robotic grippers with compliance have great superiority in grabbing objects with irregular shape or fragility compared with traditional rigid grippers. The main limitations of such systems are small grasping force resulted from properties of soft actuators and lacking variable stiffness of soft robotic grippers, which prevent them from a larger wide range of applications. This article proposes a shape-memory alloy (SMA)-based soft gripper with variable stiffness composed of three robotic fingers for grasping compliantly at low stiffness and holding robustly at high stiffness. Each robotic finger mainly consisted of stiff parts and two variable stiffness joints is installed on the base with a specific angle. The paraffin as a variable stiffness material in the joint can be heated or cooled to change the stiffness of the robotic fingers. Results of experiments have shown that a single robotic finger can approximately achieve 18-fold stiffness enhancement. Each finger with two joints can actively achieve multiple postures by both changing the corresponding stiffness of joints and actuating the SMA wire. Based on these principles, the gripper can be applied to grasp objects with different shapes and a large range of weights, and the maximum grasping force of the gripper is increased to about 10 times using the variable stiffness joints. The final experiment is conducted to validate variable stiffness of the proposed soft grippers grasping an object.

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