Soft Pneumatic Actuator skin with embedded sensors

Suh, Chansu; Margarit, Jordi Condal; Song, Yun Seong; Paik, Jamie

doi:10.1109/iros.2014.6942943

Cited by 19 publications

(16 citation statements)

References 17 publications

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“…e material of choice for bioinspired continuum robots is polyamide-a polymerized molecular chain made of nylon braided blend or carbon amalgamation (e.g., borax and vinyl alcohol) whose strength, elasticity, and flexibility can be customized per the application. Other materials used in construction of continuum robots are [192][193][194][195][196][197][198][199][200][201][202][203][204][205][206][207] Produced using weaving and knitting methodology.…”

Section: Materialmentioning

confidence: 99%

Continuum Robots for Manipulation Applications: A Survey

Kolachalama

Lakshmanan

2020

Journal of Robotics

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This paper presents a literature survey documenting the evolution of continuum robots over the past two decades (1999–present). Attention is paid to bioinspired soft robots with respect to the following three design parameters: structure, materials, and actuation. Using this three-faced prism, we identify the uniqueness and novelty of robots that have hitherto not been publicly disclosed. The motivation for this study comes from the fact that continuum soft robots can make inroads in industrial manufacturing, and their adoption will be accelerated if their key advantages over counterparts with rigid links are clear. Four different taxonomies of continuum robots are included in this study, enabling researchers to quickly identify robots of relevance to their studies. The kinematics and dynamics of these robots are not covered, nor is their application in surgical manipulation.

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Section: Materialmentioning

confidence: 99%

Continuum Robots for Manipulation Applications: A Survey

Kolachalama

Lakshmanan

2020

Journal of Robotics

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“…While the physics of the actuation principle is similar, soft pneumatic actuators (SPAs)' uniqueness comes from their air chambers that are entirely made of much softer silicone (PDMS TM , Ecoflex TM ) instead of rubber (about 1/100 of Young's modulus); therefore, the operating pressure is a fraction of atmospheric pressure making them more compliant and safer. Owing to the new material and construction, these recent generation of pressure driven actuators are also highly customizable: their sizes and functionality (range of motion, compliance, torque / force output, actuation points) can be engineered by the geometry of the mold while the intrinsic softness can still be addressed via switching the silicone hardness [17,18]. SPAs are effective even with fluids instead of pressurized air [19].…”

Section: Pneumatic Artificial Muscles (Pams)mentioning

confidence: 99%

“…Bending sensors embedded in 500 µm thick silicone matrix: a. Flexpoint TM , b. piezo film, c. Bi-flex sensorTM [18].…”

mentioning

confidence: 99%

Soft Components for Soft Robots

Paik

2015

Soft Robotics

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Typical robot platforms comprise rigid links with fixed degrees-offreedom, solid blocks of transmission and actuator, and superficial positioning of sensors: they are often optimized for the given design criteria but are unable to execute instantaneous changes to the robot's initial mechanism design. The reallife incidences, however, require robots to face complex situations filled with unprogrammed tasks and unforeseen environmental changes. One of the growing efforts in the field that address such juxtaposing design paradigm is soft robotics: augmentations of "softness" in robots to complement, adapt, and reconfigure to the contingent assignments. Although the "softness" invokes and relates to many facets of robot design in both soft and hardware, this manuscript focuses on describing some critical hardware components. I will present several on going research on actuation and sensor solutions for soft robotics application as well as novel methods and materials for sensor and actuation integration.

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“…A tactile sensor sleeve based on fiber-optic light modulation (Sareh et al 2014) can be incorporated in the body of a soft manipulator for pressure sensing; however, large instrumentation devices are required for measuring the light intensity variation. Commercially available sensors can be embedded in a soft pneumatic actuator skin (Suh et al 2014), but their size and shape cannot be customized for various applications. Although previous works have investigated the use of eGaIn-filled microchannels (Park 2013;Bilodeau et al 2015) on soft actuators for measuring deformation, the type of sensor configuration investigated does not allow gathering of localized data about the deformed structure.…”

Section: Introductionmentioning

confidence: 99%

CNT-based sensor arrays for local strain measurements in soft pneumatic actuators

Pinto

Cai

Wang

et al. 2017

Int J Intell Robot Appl

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Soft robotics is a recent trend in engineering that seeks to create machines that are soft, compliant, and capable of withstanding damage, wear and high stress. Soft pneumatic actuators (SPAs) are a key element of soft robots, and their elastomeric substrate enables generation of sophisticated motion with simple controls. Although several methods for fabrication, material selection, and structure design have been investigated for the construction of SPAs, limited attention has been paid to the integration of distributed sensors for performing localized measurement. Carbon nanotubes (CNTs) are molecular-scale tubes of carbon atoms with remarkable mechanical and electronic properties, showing potential application in sensing devices. In this paper, we present the design, fabrication, and testing of a novel type of CNT-based sensor array combined with silver nanowires for measuring localized strain along the bottom layer of a SPA. Simulation and experimentation have been performed in order to analyze the soft actuator deformation during bending. The results demonstrate the promise of the proposed SPA with integrated strain sensing, which lays groundwork for a myriad of applications in grasping, manipulation, and bioinspired locomotion.

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Soft Pneumatic Actuator skin with embedded sensors

Cited by 19 publications

References 17 publications

Continuum Robots for Manipulation Applications: A Survey

Continuum Robots for Manipulation Applications: A Survey

Soft Components for Soft Robots

CNT-based sensor arrays for local strain measurements in soft pneumatic actuators

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