Modeling and Analysis of a Composite Structure-Based Soft Pneumatic Actuators for Soft-Robotic Gripper

Yu, Ming L.; Liu, Wenwen; Zhao, Jun; Hou, Yidong; Hong, Xuewu; Zhang, Hongjie

doi:10.3390/s22134851

Cited by 14 publications

(4 citation statements)

References 38 publications

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“…The inclusion of fiber reinforcement significantly enhances the grippers' robustness and output force. These grippers exhibit high flexibility and have been successfully used to handle various agricultural products such as tomatoes, [117] apples, [118] mangos, pears, [119] eggs, [120,121] peppers, pomegranates, and even large items like watermelon and pumpkin using large grippers. [101] However, there are two shortcomings that limit the use of pneumatic grippers for agricultural products.…”

Section: Fiber-reinforced Designmentioning

confidence: 99%

Intelligent Soft Robotic Grippers for Agricultural and Food Product Handling: A Brief Review with a Focus on Design and Control

Liu,

Hou,

et al. 2023

Advanced Intelligent Systems

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Advances in material sciences, control algorithms, and manufacturing techniques have facilitated rapid progress in soft grippers, propelling their adoption in various fields. In this review article, a comprehensive overview of the design and control aspects of intelligent soft robotic grippers tailored specifically for agricultural product handling is provided. Soft grippers have emerged as a promising solution for handling delicate and fragile objects. In this article, the recent progress in various gripper design, including fluidic and mechanical grippers, is elucidated and the role of advanced control approaches in enabling intelligent functions, such as object classification and grasping condition evaluation, is explored. Moreover, the challenges and opportunities pertaining to implementation of soft grippers in the agricultural industry are thoroughly discussed. While most demonstrations of soft grippers and their control strategies remain at the experimental stage, in this article, it is aimed to provide insights into the potential applications of soft grippers in agricultural product handling, thereby inspiring future research in this field.

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Section: Fiber-reinforced Designmentioning

confidence: 99%

Intelligent Soft Robotic Grippers for Agricultural and Food Product Handling: A Brief Review with a Focus on Design and Control

Liu,

Hou,

et al. 2023

Advanced Intelligent Systems

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“…Lei et al [19] designed a multi chamber soft pneumatic grippers (SPGs) with good flexibility, which can accomplish grasping actions for objects of varied shapes. Ma et al [20] proposed a bionic dynamic gripper inspired by spider legs, which can non-destructively grip irregular and fragile items ranging from 40 to 140 mm, with a gripping weight of up to 15 N. Yu et al [21] proposed a SPA with a composite structure consisting of two types of aerodynamic grids, and a three finger soft gripper is integrated in this actuator, which demonstrates great reliability and stability in both grasping and envelope gripping.…”

Section: Introductionmentioning

confidence: 99%

Design and development of a variable structure gripper with electroadhesion

An,

Xiang,

et al. 2024

Smart Mater. Struct.

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Soft grippers are a novel kind of front-end actuators for robotics that offer great benefits such as easy control, superior grabbing capability, and close contact with the environment. They have vast application possibilities in numerous industries such as agricultural picking, item sorting, and medical rehabilitation. In this paper, a soft gripper with a variable structure and electrostatic adsorption is proposed. The gripper includes three fingers uniformly dispersed in the shape of a circle, which can adapt to varying sizes of grabbing objects by dynamically modifying the opening angle of the fingers. Aimed at addressing the existing issue of lacking multi fingers soft pneumatic grippers in grabbing tiny flat items, it is enhanced by embedding an electroadhesion films (EAFs) at the bottom of the soft pneumatic fingers (SPFs) of the gripper. It is simulated that the diameter adjustment range of this gripper is 0-482mm, and the angle adjustment range is 0-180° via ABAQUS simulation. Finally, the adaptive grabbing capacity of the soft gripper was validated via experiments. The trials reveal that the gripper can grab items of different sizes by altering the opening angle of the fingers and the maximum load of the gripper can reach 10.91N during specific grasping operations. The findings confirm that the soft pneumatic grippers (SPGs) with variable structure and electroadhesion (EA) described in this paper has a high gripping range and the capacity to grab thin flat items. We believe that its excellent gripping performance will encourage different uses of this gripper in everyday life and industry.

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“…Previous studies have effectively modeled the performance of soft actuators upon pressurization ( Polygerinos et al, 2015 ; Connolly et al, 2017 ; Ali et al, 2022 ; Namdar Ghalati et al, 2022 ; Yu et al, 2022 ). Common practice for characterizing a soft actuator is to measure the angle-pressure and force-pressure relationships, which are widely accepted parameters for people objectively comparing the actuation performance of different actuator designs.…”

Section: Introductionmentioning

confidence: 99%

Assistive robotic hand with bi-directional soft actuator for hand impaired patients

Heung

Wong

et al. 2023

Front. Bioeng. Biotechnol.

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Soft wearable robotic hand can assist with hand function for the performance of activities of daily living (ADL). However, existing robotic hands lack a mathematical way to quantify the grip force generated for better controlling the grasp of objects during the performance of ADL. To address this issue, this article presents a soft wearable robotic hand with active control of finger flexion and extension through an elastomeric-based bi-directional soft actuator. This actuator bends and extends by pneumatic actuation at lower air pressure, and a flex sensor embedded inside the actuator measures the angles of the fingers in real-time. Analytical models are established to quantify the kinematic and tip force for gripping of the actuator in terms of the relationship between the input pressure and the bending angle, as well as the output force, and are validated experimentally and by the finite element method. Furthermore, the ability of the soft robotic hand to grasp objects is validated with and without being worn on a human hand. The robotic hand facilitates hand opening and closing by the wearer and successfully assists with grasping objects with sufficient force for ADL-related tasks, and the grip force provided by the actuator is further estimated by the analytical models on two healthy subjects. Results suggest the possibility of the soft robotic hand in providing controllable grip strength in rehabilitation and ADL assistance.

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Modeling and Analysis of a Composite Structure-Based Soft Pneumatic Actuators for Soft-Robotic Gripper

Cited by 14 publications

References 38 publications

Intelligent Soft Robotic Grippers for Agricultural and Food Product Handling: A Brief Review with a Focus on Design and Control

Intelligent Soft Robotic Grippers for Agricultural and Food Product Handling: A Brief Review with a Focus on Design and Control

Design and development of a variable structure gripper with electroadhesion

Assistive robotic hand with bi-directional soft actuator for hand impaired patients

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