Soft Robotic Grippers Based on Particle Transmission

Li, Yingtian; Chen, Yonghua; Yang, Yang; Li, Yunquan

doi:10.1109/tmech.2019.2907045

Cited by 49 publications

(35 citation statements)

References 32 publications

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“…Several studies tested their bag grippers at various fill levels. Li et al 2019 [30] showed that the activation force consistently increased alongside total injected grain volume. Fujita et al 2018A [27] increased coffee fill level four times and each increase resulted in an increase in activation and holding forces on a vertical standing cylinder, as well as reducing variability in grip strength.…”

Section: Grasp Testingmentioning

confidence: 99%

“…All pertinent studies showed that stiffness increased alongside jamming actuation pressure for granular, layer and hybrid jamming. This was across load vs. displacement [8,15,16,26,37,38,40,42,[44][45][46][47]56,57,65], bending angle [6,21,25,31,38], applied moment [15,16,21,26,38,44,57] and rotational stiffness tests [21,25,30,31]. Studies commonly positioned beam, cylindrical, and finger actuators as cantilever beams [8,9,15,26,32,38,46,47,58].…”

Section: Stiffness Testingmentioning

confidence: 99%

See 1 more Smart Citation

A Review of Jamming Actuation in Soft Robotics

2020

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Jamming is a popular and versatile soft robotic mechanism, enabling new systems to be developed that can achieve high stiffness variation with minimal volume variation. Numerous applications have been reported, including deep-sea sampling, industrial gripping, and use as paws for legged locomotion. This review explores the state-of-the-art for the three classes of jamming actuator: granular, layer and fibre jamming. We highlight the strengths and weaknesses of these soft robotic systems and propose opportunities for further development. We describe a number of trends, promising avenues for innovative research, and several technology gaps that could push the field forwards if addressed, including the lack of standardization for evaluating the performance of jamming systems. We conclude with perspectives for future studies in soft jamming robotics research, particularly elucidating how emerging technologies, including multi-material 3D printing, can enable the design and creation of increasingly diverse and high-performance soft robotic mechanisms for a myriad of new application areas.

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Section: Grasp Testingmentioning

confidence: 99%

Section: Stiffness Testingmentioning

confidence: 99%

A Review of Jamming Actuation in Soft Robotics

2020

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“…[73] Nevertheless, increasing the integration of soft devices without affecting the size requires more powerful fluidic actuators. Introducing nonstretchable materials, e.g., cloth [74] and bellows, [75] or changing the transmission medium (such as particle drive) [76,77] is a possible solution that has been proven effective in other applications. In addition, there are still some other technologies that can be used in future fluid-driven SSIs, e.g., self-healing materials and related actuators that are expected to avoid the risk of liquid leakage.…”

Section: Fluidic Actuationmentioning

confidence: 99%

Intelligent Soft Surgical Robots for Next‐Generation Minimally Invasive Surgery

Zhu

Lyu

et al. 2021

Advanced Intelligent Systems

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Endowed with the expected visions for future surgery, minimally invasive surgery (MIS) has become one of the most rapid developing areas in modern surgery. Soft robotics, which originates from interdisciplinary advances in materials, fabrication, and electronics, featuring better adaptability and safer interaction, holds great promises in addressing current technical challenges in MIS, which are difficult to be solved with current rigid robotic technologies. For the first time, herein, the expected characteristics of next-generation MIS from the surgeons' perspectives are analyzed and the recent progress of soft surgical instruments from three different aspects is comprehensively summarized: engineering design, fabrication techniques, and human-robot interaction. Perspectives of nextgeneration soft surgical robots are then discussed, where some exciting possibilities are emphasized. It is believed that further developments of intelligent soft robotics enable the next-generation MIS to agilely navigate to the target and conduct dexterous diagnostic or therapeutic procedures without any trade-offs in invasiveness and ultimately be a propitious solution for future surgery.

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“…On the other hand, rapid developments in materials science have played to a significant role in the development of tactile sensors ( Shintake et al, 2018 ). Stretchable electronics components, artificial skins, and thin films are just a few examples ( Shintake et al, 2018 ; Zhu et al, 2018 ; Wang, Guo & Liu, 2019 ; Li et al, 2019 ). Artificial skins are essentially used in humanoid robotics research ( Ulmen & Cutkosky, 2010 ; Silvera-Tawil et al, 2015 ; Cannata et al, 2008 ; Saadatzi et al, 2019 ; Peyre et al, 2019 ).…”

Section: Introductionmentioning

confidence: 99%

Force transmission analysis of surface coating materials for multi-fingered robotic grippers

Erdemir¹

2021

PeerJ Computer Science

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Robotic systems are generally used for grasping, carrying, holding, and many similar operations, typically in industrial applications. One of the most important components of robotic systems is robot grippers for the aforementioned operations, which are not only mission-critical but also represent a significant operational cost due to the time and expense associated with replacement. Grasping operations require sensitive and dexterous manipulation ability. As a consequence, tactile materials and sensors are an essential element in effective robot grippers; however, to date, little effort has been invested in the optimization of these systems. This study has set out to develop inexpensive, easily replaced pads, testing two different chemical compositions that are used to produce a tactile material for robot grippers, with the objective of generating cost, time, and environmental savings. Each tactile material produced has its specific individual dimension and weight. First, each of the materials under construction was tested under different constant pressures, and its characteristics were analyzed. Second, each tactile material was mounted on a two-fingered robot gripper and its characteristics. Material characteristics were tested and analyzed as regards their ability to grasp different sizes and types of objects using the two-fingered robot gripper. Based on the analysis of the results the most sensitive and cost-effective material for industrial type multi-fingered grippers was identified.

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Soft Robotic Grippers Based on Particle Transmission

Cited by 49 publications

References 32 publications

A Review of Jamming Actuation in Soft Robotics

A Review of Jamming Actuation in Soft Robotics

Intelligent Soft Surgical Robots for Next‐Generation Minimally Invasive Surgery

Force transmission analysis of surface coating materials for multi-fingered robotic grippers

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