Highly Shape-Adaptable Honeycomb Gripper Using Orthotropic Surface Tension

Seo, Yong-Sin; Lee, Jae-Young; Park, Chanhun; Park, Jongwoo; Han, Byung-Kil; Koh, Je‐Sung; Kim, Uikyum; Rodrigue, Hugo; Bak, Jeongae; Song, Sung-Hyuk

doi:10.1109/tie.2023.3265032

Cited by 8 publications

(2 citation statements)

References 30 publications

Supporting

Mentioning

Contrasting

Order By: Relevance

“…However, it is crucial to address associated energy, efficiency, and safety issues simultaneously. Particle jamming variable stiffness has found wide application, particularly in grippers, employing techniques such as negative-pressure particle jamming [30,36,56,111,134,143,157,159,160,175], positive-pressure particle jamming [86,165], and structured particle jamming [123,128,172].…”

Section: Variable Stiffness Based On Materials Physical Propertiesmentioning

confidence: 99%

“…Specifically, we have categorized them into four distinct grasping modes: points contact (PC), lines contact (LC), surfaces contact (SC), and full-bodies contact (FBC). PC characterizes the first mode, achieving stable grasping of objects through adhesion [25][26][27][28][29][44][45][46][47][48][49][50][51][52][53][54][55][56][57][58]. The gripper can only adaptively conform to the object without any motion control.…”

Section: Introductionmentioning

confidence: 99%

See 1 more Smart Citation

Variable stiffness soft robotic gripper: design, development, and prospects

Shan,

Zhao,

Wang

et al. 2023

Bioinspir. Biomim.

View full text Add to dashboard Cite

The advent of variable stiffness soft robotic grippers furnishes a conduit for exploration and manipulation within uncharted, non-structured environments. The paper provides a comprehensive review of the necessary technologies for the configuration design of soft robotic grippers with variable stiffness, serving as a reference for innovative gripper design. The design of variable stiffness soft robotic grippers typically encompasses the design of soft robotic grippers and variable stiffness modules.To adapt to unfamiliar environments and grasp unknown objects, a categorization and discussion have been undertaken based on the contact and motion manifestations between the gripper and the things across various dimensions: points contact (PC), lines contact (LC), surfaces contact (SC), and full-bodies contact (FBC), elucidating the advantages and characteristics of each gripping type. Furthermore, when designing soft robotic grippers, we must consider the effectiveness of object grasping methods but also the applicability of the actuation in the target environment. The actuation is the propelling force behind the gripping motion, holding utmost significance in shaping the structure of the gripper. Given the challenge of matching the actuation of robotic grippers with the target scenario, we reviewed the actuation of soft robotic grippers. We analyzed the strengths and limitations of various soft actuation, providing insights into the actuation design for soft robotic grippers. As a crucial technique for variable stiffness soft robotic grippers, variable stiffness technology can effectively address issues such as poor load-bearing capacity and instability caused by the softness of materials. Through a retrospective analysis of variable stiffness theory, we comprehensively introduce the development of variable stiffness theory in soft robotic grippers and showcase the application of variable stiffness grasping technology through specific case studies. Finally, we discuss the future prospects of variable stiffness grasping robots from several perspectives of applications and technologies.

show abstract

Section: Variable Stiffness Based On Materials Physical Propertiesmentioning

confidence: 99%

Section: Introductionmentioning

confidence: 99%

Variable stiffness soft robotic gripper: design, development, and prospects

Shan,

Zhao,

Wang

et al. 2023

Bioinspir. Biomim.

View full text Add to dashboard Cite

show abstract

Dynamic Tactile Synthetic Tissue: from Soft Robotics to Hybrid Surgical Simulators

Thurner,

Maier,

Kaltenbrunner

et al. 2024

Advanced Intelligent Systems

View full text Add to dashboard Cite

Surgical simulators are valuable educational tools for physicians, enhancing their proficiency and improving patient safety. However, they typically still suffer from a lack of realism as they do not emulate dynamic tissue biomechanics haptically and fail to convincingly mimic real‐time physiological reactions. This study presents a dynamic tactile synthetic tissue, integrating both sensory and actuatory capabilities within a fully soft unit, as a core component for soft robotics and future hybrid surgical simulators utilizing dynamic physical phantoms. The adaptive surface of the tissue replica, actuated via hydraulics, is assessed by an embedded carbon black silicone sensor layer using electrical impedance tomography to determine internally or externally induced deformations. The integrated fluid chambers enable pressure and force measurements. The combination of these principles enables real‐time tissue feedback as well as closed loop operation, allowing optimal interaction with the environment. Based on the concepts of soft robotics, such artificial tissues find broad applicability, demonstrated via a soft gripper and surgical simulation applications including a dynamic, artificial brain phantom as well as a synthetic, beating heart. These advancements pave the way toward enhanced realism in surgical simulators including reliable performance evaluation and bear the potential to transform the future of surgical training methodologies.

show abstract