Omnidirectional Soft Robot Platform with Flexible Actuators for Medical Assistive Device

Ribuan, Mohamed Najib; Wakimoto, Shuichi; Suzumori, Koichi; Kanda, Takefumi

doi:10.20965/ijat.2016.p0494

Cited by 13 publications

(3 citation statements)

References 20 publications

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“…The soft actuator composition also covers the artificial pneumatic gel muscles (PGMs) utilized to examine the muscle loading and unloading effects for all motions of the upper limb [19]. Some research utilizes soft robots during fluoroscopy and x-ray examinations, including pneumatic flexible microactuator (FMA)-based towel or pillow controlled with different air pressures to examine the conditions of the patient's stomach [20,21]. A study explores discrimination levels of the fingers and wrist movements while utilizing pneumatic actuators in the form of assistive gloves.…”

Section: Upper Limb-based Soft Actuators Utilized During the Dexterou...mentioning

confidence: 99%

Soft actuators-based skill training wearables: a review on the interaction modes, feedback types, VR scenarios, sensors utilization and applications

et al. 2023

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Dexterity training helps improve our motor skills while engaging in precision tasks such as surgery in the medical field and playing musical instruments. In addition, post-stroke recovery also requires extensive dexterity training to recover the original motor skills associated with the affected portion of the body. Recent years have seen a rise in the usage of soft-type actuators to perform such training, giving higher levels of comfort, compliance, portability, and adaptability. Their capabilities of performing high dexterity and safety enhancement make them specific biomedical applications and serve as a sensitive tools for physical interaction. The scope of this article discusses the soft actuator types, characterization, sensing, and control based on the interaction modes and the 5 most relevant articles that touch upon the skill improvement models and interfacing nature of the task and the precision it demands. This review attempts to report the latest developments that prioritize soft materials over hard interfaces for dexterity training and prospects of end-user satisfaction.

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Section: Upper Limb-based Soft Actuators Utilized During the Dexterou...mentioning

confidence: 99%

Soft actuators-based skill training wearables: a review on the interaction modes, feedback types, VR scenarios, sensors utilization and applications

et al. 2023

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“…Soft miniature robots [1], ranging from nanometres to millimetres, have attracted considerable attention in recent years due to the rapid advances in material fabrication and mechanical manufacture technologies [2,3]. Soft robots have an unmatched advantage to adapt various unstructured environments with respect to their rigid counterparts, demonstrating unprecedented unique applications prospects [4][5][6], such as precise surgery [7], targeted examination [8], under-water explorations [9] and drug delivery [10]. Moreover, soft robots can exhibit safe interaction performances with human body and great flexibility to respond because of their high compliance and adaptability [11].…”

Section: Introductionmentioning

confidence: 99%

Mechanical responses of soft magnetic robots with various geometric shapes: locomotion and deformation

Jin

Liu

et al. 2022

Robotica

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Soft magnetic robots have attracted tremendous interest owning to their controllability and manoeuvrability, demonstrating great prospects in a number of industrial areas. However, further explorations on the locomotion and corresponding deformation of magnetic robots with complex configurations are still challenging. In the present study, we analyse a series of soft magnetic robots with various geometric shapes under the action of the magnetic field. First, we prepared the matrix material for the robot, that is, the mixture of silicone and magnetic particles. Next, we fabricated a triangular robot whose locomotion speed and warping speed are approximately 1.5 and 9 mm/s, respectively. We then surveyed the generalised types of robots with other shapes, where the movement, grabbing, closure and flipping behaviours were fully demonstrated. The experiments show that the arching speed and grabbing speed of the cross-shaped robot are around 4.8 and 3.5 mm/s, the crawling speed of the pentagram-shaped robot is 3.5 mm/s, the pentahedron-shaped robot can finish its closure motion in 1 s and the arch-shaped robot can flip forward and backward in 0.5 s. The numerical simulation based on the finite element method has been compared with the experimental results, and they are in excellent agreement. The results are beneficial to engineer soft robots under the multi-fields, which can broaden the eyes on inventing intellectual devices and equipment.

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“…Because pneumatic actuators have compliance, they are widely researched for human support devices [1][2][3][4][5]. Recently, the actuators are examined as the application of artificial muscles and soft actuators [6][7][8][9][10]. However, it is difficult to control pneumatic equipment since air is compressible and has nonlinear characteristics.…”

Section: Introductionmentioning

confidence: 99%

Optimization of orifice position in particle-excitation valve for proportional flow control

et al. 2017

Self Cite

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This paper reports an improvement of the particle-excitation flow control valve. The valve that we have designed in previous reports can control air flow, using particle excitation by piezoelectric resonance, and has the following advantages: small size, lightweight, high response and continuous airflow control. However, in our previous models, the relationship between the driving voltage and the flow quantity was nonlinear. In this report, we improved the valve to realize proportional flow control. The valve consists of the orifice plate, that has some orifices, and steel particles to seal the orifices and piezoelectric transducer. It controls air flow by the voltage applied to the transducer. For proportional flow control, it is important to adjust the orifice position adequately. In this report, we optimized the orifice position, considering resonance condition of the valve. We designed the experimental prototype using a boltclamped Langevin type transducer and decided orifice position. And we evaluated its vibration properties and flowrate characteristics. The experimental results showed that our designed prototype can proportionally control airflow.

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Omnidirectional Soft Robot Platform with Flexible Actuators for Medical Assistive Device

Cited by 13 publications

References 20 publications

Soft actuators-based skill training wearables: a review on the interaction modes, feedback types, VR scenarios, sensors utilization and applications

Soft actuators-based skill training wearables: a review on the interaction modes, feedback types, VR scenarios, sensors utilization and applications

Mechanical responses of soft magnetic robots with various geometric shapes: locomotion and deformation

Optimization of orifice position in particle-excitation valve for proportional flow control

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