Modelling and simulation of soft robotic human tongue with improved motion

Rodriguez, Selena; Galvan, Ruri; Ganta, D.

doi:10.1088/2631-8695/ac396f

Cited by 2 publications

(2 citation statements)

References 21 publications

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“…Besides some models replicate the wettability of the tissue, such as the contact angle between saliva and tongue surface of approximately 50 • [127], the realism of the swallowing simulation would be further increased by the introduction of lubricating films that have the rheological and tribological properties of the human saliva. Very recently, the concept of a pneumatic tongue based on connected inflatable chambers was further explored in [128], designing up to 32 chambers. In [129], the pneumatic actuation was combined with SMAs to achieve not only tongue elongation and contraction but also curling and demonstrating the capability of grasping objects and liquids with a maximum volume of 13 ml.…”

Section: Digestive Systemmentioning

confidence: 99%

Soft robotics for physical simulators, artificial organs and implantable assistive devices

et al. 2023

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In recent years, soft robotics technologies enabled the development of a new generation of biomedical devices. The combination of elastomeric materials with tunable properties and muscle-like motions paved the way toward more realistic phantoms and innovative soft active implants as artificial organs or assistive mechanisms. This review collects the most relevant studies in the field, giving some insights about their distribution in the past ten years, and their level of development, and opening a discussion about the most commonly employed materials and actuating technologies. The reported results show some promising trends, highlighting that the soft robotics approach can help replicate specific material characteristics, in the case of static or passive organs, but also reproduce peculiar natural motion patterns for the realization of dynamic phantoms or implants. At the same time, some important challenges still need to be addressed. However, by joining forces with other research fields and disciplines, it will be possible to get one step closer to the development of complex, active, self-sensing and deformable structures able to replicate as closely as possible the typical properties and functionalities of our natural body organs.

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Section: Digestive Systemmentioning

confidence: 99%

Soft robotics for physical simulators, artificial organs and implantable assistive devices

et al. 2023

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“…Fluid-powered fibre-reinforced actuators [21] have been devised, mirroring the intricate movements of the index finger and thumb. Numerous researchers [22][23][24][25][26][27][28][29][30][31][32][33][34][35] have made significant contributions in various areas, showcasing their remarkable work.…”

Section: Introductionmentioning

confidence: 99%

Experimental investigation on enhancement in pure axial deformation of soft pneumatic actuator (SPA) with cap ring reinforcement

Mehta,

Chauhan,

Sanghvi

et al. 2024

Eng. Res. Express

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Bio-inspired soft-robots are nowadays found their place in many applications due to its flexibility, compliance and adaptivity to unstructured environment. The main intricate part of such bio-inspired soft robots are soft pneumatic actuators (SPA) which replicate or mimic the limbs and muscles. The soft actuators are pneumatically actuated and provide bending motion in most cases. However, many engineering and medical applications need axially expanding soft pneumatic actuators to deal with delicate objects. Various studies have put forward designs for SPA with axial deformation, but the majority of them have limited axial deformation, constraining motion and less overall efficacy which limit the scope of utilization. The common practice to enhance the axial deformation of SPA is by incorporating directionally customized reinforcement using fibres or by other means like yarns, fabrics, etc. These types of reinforcements are generally embedded to SPA during fabrication and may not have capability for any correction or modification later on hence lack the customization. This paper presents a novel method of radial reinforcement for the enhancement of axial deformation of SPAs with provision of customization. The present study aims to enhance and/or customize the axial deformation of SPA by incorporating external and detachable reinforcement in the form of annulus shaped cap ring. The investigation encompasses the design and attachment of four distinct cap ring geometries to SPA at different locations. Experimental results affirm that cap ring reinforcement bolster the radial stiffness, curbing lateral deformation while permitting axial deformation of soft pneumatic actuators. Out of 64 distinct configurations, the one with full reinforcement, featuring four cap rings of maximum size, yields a remarkable 169% increase in pure axial deformation compared to unreinforced cases. It is also observed that by varying the number and placement locations of cap rings the pure axial deformation can be customized. This novel insight not only propels soft pneumatic actuation technology but also heralds prospects for highly agile and versatile robotic systems which can be used in medical, prosthetics, pharmaceutical and other industries.

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Modelling and simulation of soft robotic human tongue with improved motion

Cited by 2 publications

References 21 publications

Soft robotics for physical simulators, artificial organs and implantable assistive devices

Soft robotics for physical simulators, artificial organs and implantable assistive devices

Experimental investigation on enhancement in pure axial deformation of soft pneumatic actuator (SPA) with cap ring reinforcement

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