Model of a Coil-Reinforced Cylindrical Soft Actuator

Kanno, Takahiro; Ohkura, Shunya; Azami, Osamu; Miyazaki, Toshimasa; Kawase, Toshihiro; Kawashima, Kenji

doi:10.3390/app9102109

Cited by 11 publications

(4 citation statements)

References 28 publications

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“…It has been verified that the effective cross-sectional area of the soft actuator depends on the outer diameter of the silicone part. (29) The force generated by the actuator can be calculated by multiplying the outer diameter by the supply pressure. Then, the force acting on the actuator can be calculated as…”

Section: Force Estimationmentioning

confidence: 99%

External Force Estimation of Pneumatic Soft Actuator with Built-in Displacement Sensor

Kanno¹,

Kawashima²

2021

Sensors and Materials

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We have proposed an extension-type pneumatic soft actuator made of a silicone tube covered by a metal spring. The spring is used to reinforce the outer periphery and to estimate the extension of the actuator from its change in inductance. However, the repeatability of the measurement needs to be improved since neither side of the spring is firmly fixed to the silicone tube. In this study, we newly designed and developed a soft actuator to improve the repeatability of the measurement. Then, we estimated the external force applied to the actuator using the supply pressure and the estimated displacement of the spring. In our experiments, we used an external force sensor, and its measured value was compared with the estimated force value. We confirmed the effectiveness of the force estimation by performing experiments with a lowfrequency sinusoidal input of 0.1 Hz.

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Section: Force Estimationmentioning

confidence: 99%

External Force Estimation of Pneumatic Soft Actuator with Built-in Displacement Sensor

Kanno¹,

Kawashima²

2021

Sensors and Materials

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“…where V is the volume of fluid that is pushed into the actuator, and kr is the instantaneous spring constant of the rubber tubing with the equation as shown in [32]:…”

Section: F K X =mentioning

confidence: 99%

Soft Microtubule Muscle-Driven 3-Axis Skin-Stretch Haptic Devices

et al. 2020

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In the real world, people heavily rely on haptic or touch to manipulate objects. In emerging systems such as assistive devices, remote surgery, self-driving cars and the guidance of human movements, visual or auditory feedback can be slow, unintuitive and increase the cognitive load. Skin stretch devices (SSDs) that apply tangential force to the skin via a tactor can encode a far richer haptic space, not being limited to force, motion, direction, stiffness, indentation and surface geometry. This paper introduces novel hand-worn hydraulic SSDs that can induce 3-axis tangential forces to the skin via a tactor. The developed SSDs are controlled by new soft microtubule muscles (SMMs) which are driven by hydraulic pressure via custom miniature syringes and DC micromotors. An analytical model is developed to characterize the responses of SMM output in terms of force and elongation. A kinematic model for the motion of the 3-axis SSD is also developed. We evaluate the capability of the tactor head to track circular reference trajectories within different working spaces using an optical tracking system. Experimental results show that the developed SSDs have good durability, high-speed, and can generate omnidirectional shear forces and desired displacement up to 1.8 N and 4.5 mm, respectively. The developed SMMs and SSDs created in this paper will enable new forms of haptic communication to augment human performance during daily activities such as tactile textual language, motion guidance and navigational assistance, remote surgical systems, rehabilitation, education, training, entertainment, or virtual and augmented reality.

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“…SPAs are expected to be soft, compliant like natural muscles [11,12], and be able to make a safe interaction with unstructured environments [2,11]. They can generally generate bending [13][14][15][16] and linear motions [6,9,[17][18][19][20] which enable them to offer a high potential for employment in soft robots [21] and medical applications thanks to their inherent compliance and safety [5]. Many of them take a prominent role in soft robots in delicate tasks [22] as soft grippers for automation tasks including grasping delicate irregular objects [23][24][25][26][27][28], flexible manipulators [29,30], wearable devices [31][32][33], minimally invasive surgery [34,35], wormlike robots [36], active prosthetics [37], the hexapod walking robot [38], and or the manta robot [39].…”

Section: Introductionmentioning

confidence: 99%

A bio-inspired soft planar actuator capable of broadening its working area

Sayyadan¹,

Moniri²

2021

Eng. Res. Express

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Soft actuators are an integral part of many soft robots that make them compliant and adaptable. In many previous studies, soft pneumatic actuators were designed and utilized generally to create bending motions. Due to the limited capabilities becomes ineffective where axial elongation is required. Here, we introduce a planar bioinspired soft pneumatic actuator capable of increasing its working area through both longitudinal elongation and bending motions, separately and or simultaneously. The actuator consists of two similar linear soft pneumatic actuators with agap between them. To study the performance of the planar actuator, four normalized sizes of gaps were considered between the linear actuators, analyzed through FEM, and validated by conducting experimental tests. On average, experimental results on the planar actuator demonstrate that the working area is 2.40 times bigger than the working area that just resulted from the bending motion. The results also indicate that the actuator can attain stability under 0.8 s, create a blocked force up to 18 N, and a bending angle up to 240° at the pressure 3.0Bars. Broadening the working area can be an outstanding feature that enables soft robots to be versatile and advantageous in many more applications in real and unstructured environments.

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Model of a Coil-Reinforced Cylindrical Soft Actuator

Cited by 11 publications

References 28 publications

External Force Estimation of Pneumatic Soft Actuator with Built-in Displacement Sensor

External Force Estimation of Pneumatic Soft Actuator with Built-in Displacement Sensor

Soft Microtubule Muscle-Driven 3-Axis Skin-Stretch Haptic Devices

A bio-inspired soft planar actuator capable of broadening its working area

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