Growing the Soft Robotics Community Through Knowledge-Sharing Initiatives

Holland, Dónal; Berndt, Sara; Herman, Maxwell; Walsh, Conor J.

doi:10.1089/soro.2018.29013.dph

Cited by 16 publications

(7 citation statements)

References 2 publications

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“…The middle, ring and little finger are designed similarly to the index, but with different lengths of the segments. The SPA was modeled on ABAQUS/CAE (2019, Dassault Systèmes®, Vélizy-Villacoublay, France) [12,13,14]. The model is drawn as 4 parts: tube, outer layer, clockwise cable, and anti-clockwise cables, as shown in Figure 6.…”

Section: Methodsmentioning

confidence: 99%

Soft Finger Modelling and Co-Simulation Control towards Assistive Exoskeleton Hand Glove

2021

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The soft pneumatic actuators of an assistive exoskeleton hand glove are here designed. The design of the actuators focuses on allowing the actuator to perform the required bending and to restrict elongation or twisting of the actuator. The actuator is then modeled using ABAQUS/CAE, a finite element modeling software, and the open loop response of the model is obtained. The parameters of the actuator are then optimized to reach the optimal parameters corresponding to the best performance. Design of experiment (DOE) techniques are then approached to study the robustness of the system. Software-in-the-loop (SiL) is then approached to control the model variables via a proportional-integral-derivative (PID) control generated by FORTRAN code. The link between the two programs is to be achieved by the user subroutine that is written, where the subroutine receives values from ABAQUS/CAE, performs calculations, and passes values back to the software. The controller’s parameters are tuned and then the closed loop response of the model is obtained by setting the desired bending angle and running the model. Furthermore, a concentrated force at the tip of the actuator is added to observe the actuator’s response to external disturbance.

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Section: Methodsmentioning

confidence: 99%

Soft Finger Modelling and Co-Simulation Control towards Assistive Exoskeleton Hand Glove

2021

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“…is the velocity twist relative to the predecessor in the body frame, and ( ) $ Y is the isomorphism from R 6 to se (3). The space derivative of ( ) g X i i is a matrix differential equation that can be integrated in space according to ( ) ( ) , exp g X X…”

Section: Governing Equationsmentioning

confidence: 99%

“…The development of precise theoretical models is crucial, but theory alone may not be enough to satisfy the demand for computational tools in the soft robotics field. Knowledge sharing initiatives become essential to allowing the growth of this relatively new research field [3]. Generalized modeling platforms eliminate the need to write robot-specific scripts for the simulation, design optimization, and model-based control of specific manipulators by providing user-friendly, accurate, fast, and reliable algorithms.…”

Section: Introductionmentioning

confidence: 99%

SoRoSim: A MATLAB Toolbox for Hybrid Rigid–Soft Robots Based on the Geometric Variable-Strain Approach

Mathew

Hmida

Armanini

et al. 2023

IEEE Robot. Automat. Mag.

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oft robotics has been a trending topic within the robotics community for almost two decades. However, available tools for the modeling and analysis of soft robots are still limited. This article introduces a user-friendly MATLAB toolbox, Soft Robot Simulator (SoRoSim), that integrates the geometric variable-strain (GVS) model of Cosserat rods to facilitate the static and dynamic analysis of soft, rigid, and hybrid robotic systems. We present a brief overview of the design and structure of the toolbox and validate it by comparing its results with those published in the literature. To highlight the toolbox's potential to efficiently model, simulate, optimize, and control various robotic systems, we demonstrate four sample applications. The demonstrated applications explore different actuator and external loading conditions of single-, branched-, open-, and closed-chain robotic systems. We think that the soft robotics research community will significantly benefit from the SoRoSim toolbox for a wide variety of applications.

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“…To these types of envelopes of integrated design, additive manufacturing methods are applied to which intelligent soft robots [8] collaborate which, through some of their components, including actuators and sensors of composite material, generate movement to the modular components and on which intelligent materials are added, of energy efficiency like PV, etc. In fact, the soft robots of the broad sector of artificial intelligence and learning machines, belong to one of the emerging sectors of bio robotics and are flexible, soft-structure systems that interact securely with the natural environment and the user, distinguishing themselves from rigid-structure robots.…”

Section: Efficient Stratifications and Soft Robotics Application In Ementioning

confidence: 99%

Dynamism and Soft Robotics in the Intelligence of the New Design of Lightweight Envelopes

Mocerino¹

2019

JCEA

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The innovation of building envelopes is densely characterized, in the new design process, by new products of the building industry and intelligent robotic systems, making them efficient and dynamic in an eco-efficient environmental context and spatial flexibility. The goal is that of energy efficiency and environmental sustainability that invest above all the building production sector, pushing towards a circular economy with the use of clean energy resources and new artificial intelligence systems. The intelligence is highlighted through the optimization of the performance of new lightweight envelopes, in the technological design and the new building process, through Lean planning and Lean construction, Mass customization, with application of criteria, methods and tools. So there are innovative technological solutions, for environmental comfort and energy saving, and typological solutions with high performance level, with the use of innovative, adaptive, advanced, light materials with nanoproducts, intelligent IT systems, etc. We highlight the effectiveness of design with natural passive use of renewable energy and energy efficiency of the envelope as "skin" and relative increase in performance levels, in the interaction with the internal environment and natural dynamic flows and in the conversion of thermal and electrical energy. The methodologies are aimed at the application of digital technologies and soft robotic systems for the management and quality of services with technological and constructive solutions for dynamic interactive envelope and intelligent systems of double or triple skin, curtain walls, etc. The challenge is new design models of dynamic enclosures, on criteria and methods that guide the new rules on energy efficiency in buildings, for environmental sustainability and housing quality with the integration of soft robots.

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Growing the Soft Robotics Community Through Knowledge-Sharing Initiatives

Cited by 16 publications

References 2 publications

Soft Finger Modelling and Co-Simulation Control towards Assistive Exoskeleton Hand Glove

Soft Finger Modelling and Co-Simulation Control towards Assistive Exoskeleton Hand Glove

SoRoSim: A MATLAB Toolbox for Hybrid Rigid–Soft Robots Based on the Geometric Variable-Strain Approach

Dynamism and Soft Robotics in the Intelligence of the New Design of Lightweight Envelopes

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