Stiffness modeling of a soft finger

Cha, Hyo-Jeong; Koh, Kyoung Chul

doi:10.1007/s12555-013-0127-4

Cited by 8 publications

(2 citation statements)

References 7 publications

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“…Despite having similar dexterity to human hands, rigid robotic hands face significant difficulties in achieving compliance and adjusting stiffness, leading to lower adaptability [1,4]. Recent advancements in compliant materials have led to a surge in interest in soft grippers actuated by pneumatic [4][5][6][7][8][9], cable-driven [10][11][12][13][14], shape memory alloy (SMA) [15,16], and electromagnetic methods [17]. Some typical soft grippers were inspired by individual fingers, usually excluding a thumb [18,19].…”

Section: Literature Review 21 Human-hand-inspired Soft Robotmentioning

confidence: 99%

Perceived Safety Assessment of Interactive Motions in Human–Soft Robot Interaction

Wang,

et al. 2024

Biomimetics

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Soft robots, especially soft robotic hands, possess prominent potential for applications in close proximity and direct contact interaction with humans due to their softness and compliant nature. The safety perception of users during interactions with soft robots plays a crucial role in influencing trust, adaptability, and overall interaction outcomes in human–robot interaction (HRI). Although soft robots have been claimed to be safe for over a decade, research addressing the perceived safety of soft robots still needs to be undertaken. The current safety guidelines for rigid robots in HRI are unsuitable for soft robots. In this paper, we highlight the distinctive safety issues associated with soft robots and propose a framework for evaluating the perceived safety in human–soft robot interaction (HSRI). User experiments were conducted, employing a combination of quantitative and qualitative methods, to assess the perceived safety of 15 interactive motions executed by a soft humanoid robotic hand. We analyzed the characteristics of safe interactive motions, the primary factors influencing user safety assessments, and the impact of motion semantic clarity, user technical acceptance, and risk tolerance level on safety perception. Based on the analyzed characteristics, we summarize vital insights to provide valuable guidelines for designing safe, interactive motions in HSRI. The current results may pave the way for developing future soft machines that can safely interact with humans and their surroundings.

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Section: Literature Review 21 Human-hand-inspired Soft Robotmentioning

confidence: 99%

Perceived Safety Assessment of Interactive Motions in Human–Soft Robot Interaction

Wang,

et al. 2024

Biomimetics

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“…The shape of the flexible manipulator arm is changed by pneumatic control and the stiffness of the top of the manipulator arm increases with the eccentricity [27]. Cha proposed a three-DoF flexible finger mechanism using a spring as the backbone, and derived the stiffness model of the flexible finger using the linear spring model and transformed it into a torsion spring model [28]. Stilli proposed a controllable solution for the stiffness of robot joints based on an air-pressurized chamber.…”

Section: Introductionmentioning

confidence: 99%

Stiffness Modelling and Performance Evaluation of a Soft Cardiac Fixator Flexible Arm with Granular Jamming

Gao

Zhu

et al. 2021

Machines

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To meet the practical application requirements of cardiac fixation during off-pump coronary artery bypass surgery, a soft cardiac fixator with a flexible arm was previously designed. To enable the soft cardiac fixator to adapt to uncertain external forces, this study evaluates the variable-stiffness performance of the flexible arm. First, the flexible arm was simplified as a soft silicone manipulator measuring 60 mm × 90 mm × 120 mm, which can actuate, soften, or stiffen independently along the length of the arm by combining granular jamming with input pressure. Then, the soft manipulator was modelled as a cantilever beam to analyse its variable-stiffness performance with granular jamming. Next, based on theoretical analysis and calculations, many experiments were conducted to evaluate the variable-stiffness performance of the soft manipulator. The experimental results demonstrated that the variable-stiffness performance is influenced by the flexible arm length, the size of the granules, and the input pressure.

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