Soft Gripper Dynamics Using a Line-Segment Model With an Optimization-Based Parameter Identification Method

Wang, Zhongkui; Hirai, Shinichi

doi:10.1109/lra.2017.2650149

Cited by 97 publications

(47 citation statements)

References 16 publications

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“…Our aim is to directly 3D print soft robots with integrated actuation and sensing capabilities using low‐cost and open‐source 3D printers that use soft and flexible materials. Soft pneumatic actuators are compatible with our aim, and recently various 3D‐printable soft pneumatic actuators based on multiple additive manufacturing technologies were developed . In the present study, we introduce 3D‐printable soft pneumatic sensors to complement 3D‐printable actuation concepts based on pneumatics and other actuation methods for soft robots.…”

Section: Introductionmentioning

confidence: 94%

Soft Pneumatic Sensing Chambers for Generic and Interactive Human–Machine Interfaces

Tawk

Panhuis

Spinks

et al. 2019

Advanced Intelligent Systems

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Soft robots are ideal to interact safely alongside humans when compared to rigid‐bodied robots. These robots require robust soft sensors that can sustain large deformations. Novel soft pneumatic sensing chambers (SPSCs) that can be directly 3D printed using a low‐cost 3D printer and an off‐the‐shelf thermoplastic poly(urethane) (TPU) are presented. The SPSCs are responsive to four main mechanical input modalities of compression, bending, torsion, and rectilinear displacement, and all of these cause a pressure change in the SPSCs. The SPSCs have several advantages including fast response, linearity, negligible hysteresis, repeatability and reliability, stability over time, long lifetime, and very low power consumption. The SPSCs are optimized using finite element modeling (FEM) simulations to obtain a linear relationship between the input mechanical modalities and the output pressure. With the hyperelastic material model developed for the TPU, the FEM simulations accurately predict the experimental behavior. These SPSCs are generic and can be tailored to diverse soft and interactive human–machine interfaces including soft wearable gloves for virtual reality applications and soft adaptive grippers control, soft push buttons for science, technology, engineering, and mathematics (STEM) education platforms, haptic feedback devices for rehabilitation, soft game controllers and soft throttle controllers for gaming, and soft bending sensors for soft prosthetic hands.

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Section: Introductionmentioning

confidence: 94%

Soft Pneumatic Sensing Chambers for Generic and Interactive Human–Machine Interfaces

Tawk

Panhuis

Spinks

et al. 2019

Advanced Intelligent Systems

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show abstract

“…Charbel Tawk, Yuan Gao, Rahim Mutlu and Gursel Alici printing [29][30][31], multi-material 3D printing [32][33] and silicone 3D printing [34].…”

Section: Fully 3d Printed Monolithic Soft Gripper With High Conformalmentioning

confidence: 99%

Fully 3D Printed Monolithic Soft Gripper with High Conformal Grasping Capability

Tawk

Gao

Mutlu

et al. 2019

2019 IEEE/ASME International Conference on Advanced Intelligent Mechatronics (AIM)

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The recent advances in material science and engineering disciplines have had a significant impact on the robotics field where numerous bioinspired soft robots have been developed. Roboticists can now develop and fabricate soft robotic systems made of materials with low elasticity using additive manufacturing technologies. One of the most studied classes of soft robotic systems is soft adaptive grippers. In this work, we present a novel fully 3D printed soft pneumatic gripper that incorporates a novel design of soft pneumatic chambers and a bioinspired fin-ray structure for conformal grasping. The soft gripper was printed in a single step using a low-cost and open-source fused deposition modeling (FDM) 3D printer and a commercially available thermoplastic poly(urethane) (TPU). A soft pneumatic actuator representing each finger of the gripper was optimized using finite element modeling (FEM). The FEM simulations predicted accurately the performance of the actuator in terms of deformation and blocked force. The high conformability of the proposed soft gripper was validated experimentally. The soft gripper was demonstrated lifting a heavy load and grasping a wide variety of objects with different weights, shapes, textures and stiffnesses.

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“…In recent years, with the development of soft robotics, more and more scientists attempt to realize flexible grasping with the aid of soft robotic grippers (SRGs), which are made of soft material for instance silicon rubber. [3][4][5][6][7] Ilievski et al 8 fabricate a starfish-like SRG with six pneumatically driven soft actuators, which has simple structure but is not powerful enough to grasp heavier objects. Li et al 9 manufacture a more complex soft gripper with a pack of particles, and when inflated, the larger squeezing pressure of particle jamming would promote the stiffness, so that this soft gripper can be applied to more occasions.…”

Section: Introductionmentioning

confidence: 99%

A novel mode controllable hybrid valve pressure control method for soft robotic gripper

Huang

Lin

et al. 2018

International Journal of Advanced Robotic Systems

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Compared with traditional rigid gripper with joint-linkage structure, novel soft robotic gripper gives rise to continuous concern for the advantages of no-damage grasping, convenient manufacture, easy control, and low cost. In this study, we design and built two kinds of soft robotic grippers with four fiber-reinforced soft actuators which are distributed in circular and rectangle shapes for single and twin contacts grasping. A novel hybrid valve pneumatic control scheme combining proportional and solenoid valves is proposed. Also, a mode controllable hybrid valve pressure control method is proposed to adjust internal pressure of soft robotic grippers to adapt to different grasping tasks. The experiment results verify that the performances of hybrid valve outperform those of individual proportional valve or solenoid valve in the aspects of response time and steady-state accuracy. The hybrid valve has wide range of pressure regulation, result in that the soft robotic grippers are qualified to grasp various objects with different shapes, sizes, and weights.

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Soft Gripper Dynamics Using a Line-Segment Model With an Optimization-Based Parameter Identification Method

Cited by 97 publications

References 16 publications

Soft Pneumatic Sensing Chambers for Generic and Interactive Human–Machine Interfaces

Soft Pneumatic Sensing Chambers for Generic and Interactive Human–Machine Interfaces

Fully 3D Printed Monolithic Soft Gripper with High Conformal Grasping Capability

A novel mode controllable hybrid valve pressure control method for soft robotic gripper

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