Sensor and actuator integrated low-profile robotic origami

Firouzeh, Amir; Sun, Yi; Lee, Hyunchul; Paik, Jamie

doi:10.1109/iros.2013.6697069

Cited by 46 publications

(45 citation statements)

References 20 publications

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“…The cured glass fiber layers are used as the structural material in this design. Each of these layers is processed using a UV laser micro machining station (detailed process and machine specifications are presented in [31]). In the hinge area, we used a castellated pattern to fix the axis of rotation and to increase the lateral stability of the joint.…”

Section: Robogami Joint Design and Kinetostatic Study Of The Undementioning

confidence: 99%

Stiffness Control With Shape Memory Polymer in Underactuated Robotic Origamis

2017

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Abstract-Under-actuated systems offer compact designs with easy actuation and control but at the cost of limited stable configurations and reduced dexterity compared to the directly driven and fully actuated systems. Here, we propose a compact origami-based design to control the stable configurations and the overall stiffness of an under-actuated robotic finger by modulating the material stiffness of the joint. The design of the robotic finger is based on the robotic origami design principle in which multiple functional layers are integrated to make a nominally 2D robot with a desired functionality. To control the stiffness of the structure, we controlled the elastic modulus of a shape memory polymer (SMP) via embedded customized stretchable heater. We monitor the configuration of the finger using the feedback from the customized curvature sensors embedded in each joint. We studied the stable configurations and the contact forces of a finger with 3 joints at different stiffness settings. A scaled down version of the design was used in a gripper with two fingers and different grasp modes were demonstrated through activating different set of joints.

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Section: Robogami Joint Design and Kinetostatic Study Of The Undementioning

confidence: 99%

Stiffness Control With Shape Memory Polymer in Underactuated Robotic Origamis

2017

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“…4a). By etching the metal in the exposed parts at this stage we would get the unstretchable heaters introduced previously in [7]. Here, we cut a mesh structure, which makes the heater stretchable through all layers, along the serpentine path.…”

Section: B Design and Fabrication Of Arm With Adjustable Stiffness Jmentioning

confidence: 99%

“…Compared to normal polymers, these are engineered to have better cross-links which enables them to recover the deformation in their rubbery state (high temperature) and return to their memory shape with higher repeatability. Compared to the more common approach where the functional materials are used as actuators in robots to reduce the size and weight [2], [6], [7], in the method studied here, we mainly exploit the mechanical property change in the material.…”

Section: Introductionmentioning

confidence: 99%

An under actuated robotic arm with adjustable stiffness shape memory polymer joints

Firouzeh

Salehian

Billard

et al. 2015

2015 IEEE International Conference on Robotics and Automation (ICRA)

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Abstract-Various robotic applications including surgical instruments, wearable robots and autonomous mobile robots are often constrained with strict design requirements on high degrees of freedom (DoF) and minimal volume and weight. An intuitive design to meet these contradictory requirements is to embed locking mechanism in under actuated robotic manipulators to direct the actuation from a single and remote source to drive different joints on demand. Mechanical clutches do serve such purposes but often are bulky and require auxiliary mechanism making it difficult to justify the high cost adding the additional DoF, especially in cm scale.Here, we introduce an under-actuated robotic arm with shape memory polymer (SMP) joints. Through controlling the temperature, the stiffness of the joints can be adjusted and selected joints will be activated while the rest are fixed in their position. The presented prototype can control the joints independently with a coupled actuation from two stepper motors. Since we have redundant DoFs in the arm, there can be more than one configuration to reach a given position. We use a probabilistic technique to determine the optimum configuration with the minimum number of active joints that can yield the desired posture. In this paper, we report on the performance of the proposed design for the hardware and the configuration planner.

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“…The strain-constraining layer is fabricated by applying the degassed silicone-rubber solution evenly on a piece of fabric mentioned above. When cured, the coated fabric is cut to desired patterns using laser-micromachining [9]. The molded bodies are bonded together with the coated fabric using additional silicon-rubber mixture.…”

Section: Ieee/rsj International Conference On Intelligent Robots and mentioning

confidence: 99%

Characterization of silicone rubber based soft pneumatic actuators

Sun

Song

Paik

2013

2013 IEEE/RSJ International Conference on Intelligent Robots and Systems

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Abstract-Conventional pneumatic actuators have been a popular choice due to their decent force/torque output. Nowadays, new generation of pneumatic actuator made out of highly compliant elastomers, which we call soft pneumatic actuators (SPA), are drawing increasing attention due to their ease of fabrication, high customizability and innately softness. However, there is no effective method presented to characterize and understand these actuators, such as to measure the force and torque output, range of motion and the speed of actuation.In this work, we present two types of SPAs: bending and rotary actuators. In addition, we have developed two measurement setups to characterize actuators of different geometries. The measured force/torque outputs of different actuators are presented and analyzed.Step responses to certain pressure input are presented and discussed. A simple model is presented to provide physical insight to the observed behavior of the soft actuators. This work provides the basis for designing customized SPAs with application-specific requirements.

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Sensor and actuator integrated low-profile robotic origami

Cited by 46 publications

References 20 publications

Stiffness Control With Shape Memory Polymer in Underactuated Robotic Origamis

Stiffness Control With Shape Memory Polymer in Underactuated Robotic Origamis

An under actuated robotic arm with adjustable stiffness shape memory polymer joints

Characterization of silicone rubber based soft pneumatic actuators

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