Hand gesture control and design of a rotary pneumatic soft actuator using leap motion sensor

Oguntosin, Victoria; Abdulkareem, Ademola

doi:10.1007/s41315-020-00140-5

Cited by 9 publications

(5 citation statements)

References 18 publications

Supporting

Mentioning

Contrasting

Order By: Relevance

“…This kind of system has been implemented to emulate the behaviour of biological systems [ 30 , 31 , 32 ]. It must be pointed out that this kind of mechanism is highly valuable when some kinds of transmission mechanisms are applied, such as a driven cable [ 33 , 34 ], or when a special class of smart actuator is implemented such as the shape memory alloys [ 27 , 35 , 36 ], pneumatic actuators [ 37 , 38 ], and electro-chemical actuators [ 39 , 40 ].…”

Section: Sma Linear Actuator Mathematical Modelmentioning

confidence: 99%

Position Measurements Using Magnetic Sensors for a Shape Memory Alloy Linear Actuator

Vega

Cubas

Sandoval-Chileño

et al. 2022

Sensors

View full text Add to dashboard Cite

This article presents the design and implementation of a linear actuator based on NiTi Shape Memory Alloys with temperature and position measurements based on a magnetic sensor array and a set of thermistors. The position instrumentation is contact free to avoid friction perturbations; the position signal conditioning is carried out through the calculation of the response of each magnetic sensor, selecting the closest sensor to ensure accurate results on the full range of movement. Experimental results validate the accuracy of the position sensing with a competitive behaviour.

show abstract

Section: Sma Linear Actuator Mathematical Modelmentioning

confidence: 99%

Position Measurements Using Magnetic Sensors for a Shape Memory Alloy Linear Actuator

Vega

Cubas

Sandoval-Chileño

et al. 2022

Sensors

View full text Add to dashboard Cite

show abstract

“…where μ is the bearing friction coefficient, P is the bearing load, and d is the nominal inner bearing diameter. By substituting equations ( 8), (10), and (11) into (5), the actuator increment angle can be calculated as follows:…”

Section: Static Model Of the Actuator Rotation Anglementioning

confidence: 99%

“…Furthermore, a team from the Covenant University of Nigeria developed a pneumatic soft rotary actuator to be used for gesture control. e actuator was manufactured using the molding process, and a pair of antagonistic rotary actuators was used to develop a joint enabling forward and reverse rotations [10]. e joint could rotate from −16 °to 90 °by coordinating the forward and reverse actuators.…”

Section: Introductionmentioning

confidence: 99%

Study on the Structure and Performance of an Antagonistic Pneumatic Bidirectional Rotary Joint

Liu

Sun

Geng

et al. 2021

Mathematical Problems in Engineering

View full text Add to dashboard Cite

An antagonistic pneumatic bidirectional rotary flexible joint was developed to improve both safety and environmental adaptability of service robots and associated human interactions. The joint comprises two semicircular rotary actuators with positive and negative symmetrical distributions and a pneumatic brake. As such, it achieves forward and reverse rotations, and its damping and braking are adjustable in real time, enabling it to maintain its position. According to the force/torque balance at the free end of the rotary actuator, the rotation angle static model was established. The relationship between the actuator rotation angle, driving torque, impedance torque, and air pressure was obtained experimentally. The brake airbag was manufactured using additive manufacturing and silicone gel casting technologies. The mathematical model of the braking torque was established next, and the model was verified through experiments. Furthermore, an experimental system was constructed to carry out the air pressure-angle, air pressure-torque, and speed response experiments without the load on the joint. The results have shown that the joint can achieve any position within ± 68.5° when the driving air pressure varies from 0 to 0.30 MPa; the time required to reach the maximum angle was 0.85 s. The joint has shown good adjustable damping characteristics. Lastly, the braking torque reached 4.21 Nm at 0.32 MPa, effectively maintaining the position.

show abstract

“…The SPAs driven by positive pressure include McKibben actuators [16,17], fiber-reinforced actuators [18,19], and PneuNets [20][21][22]. SPAs can have several deformation modes, including contraction/expansion [23], twisting [24], rotation [25], and bending [26]. A variety of bionic soft robots have been developed by combining the multiple deformation modes of SPAs.…”

Section: Introductionmentioning

confidence: 99%

Design of cylindrical soft vacuum actuator for soft robots

Cheng

Jia

et al. 2021

Smart Mater. Struct.

View full text Add to dashboard Cite

Soft robots have been significantly studied in recent decades, and among their key components are soft actuators. Vacuum is one of the main drivers of soft actuators. In this study, we propose a novel cylindrical soft vacuum actuator (CSVA) consisting of a top layer, bottom layer, and cylindrical internal chamber. Under a vacuum, the bottom layer was concaved into the internal chamber. A simplified analytical model was established to analyze the relationship between the vacuum pressure and the deformation height of the bottom layer. A validation experiment was conducted to verify the effectiveness of the proposed analytical model. The potential applications of the CSVA in the design of soft robots were also explored. A jellyfish-inspired swimming robot, an octopus-inspired suction cup, and a soft–rigid gripper were designed according to the concave deformation of the bottom layer. Then, the swimming speed of the swimming robot, the adsorption force of the suction cup, and the grasping capability of the soft–rigid gripper were investigated. The experimental results show that the maximum swimming speed of the swimming robot is 55.3 mm s−1 at a flapping frequency of 0.6 Hz. The adsorption forces of the suction cup both in air and underwater are 16.8 N and 17.5 N, respectively. The soft–rigid gripper with a pinching-grasping mode can grasp objects of various shapes and sizes in air and underwater. The experimental results demonstrate the feasibility of the soft vacuum actuator in the design of various soft robots.

show abstract

Hand gesture control and design of a rotary pneumatic soft actuator using leap motion sensor

Cited by 9 publications

References 18 publications

Position Measurements Using Magnetic Sensors for a Shape Memory Alloy Linear Actuator

Position Measurements Using Magnetic Sensors for a Shape Memory Alloy Linear Actuator

Study on the Structure and Performance of an Antagonistic Pneumatic Bidirectional Rotary Joint

Design of cylindrical soft vacuum actuator for soft robots

Contact Info

Product

Resources

About