Water hydraulic soft actuators for underwater autonomous robotic systems

Chen, Gang; Yang, Xin; Zhang, Xujie; Hu, Huosheng

doi:10.1016/j.apor.2021.102551

Cited by 47 publications

(28 citation statements)

References 28 publications

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“…[63] Specifically, we have adopted an electromagnetically driven gripper as the end-effector, instead of its soft pneumatic counterpart, of which the rigid structure handles more reliably for underwater tasks, especially in deep-water situations. [64] A high-density tactile array containing 32 × 32 inverse ISUs based on a scanning matrix architecture has been implemented surrounded by the standard material and environmental ISUs as illustrated in Figure 6a-b and Figure S22 (Supporting Information). It leads to a highly compact matrix structure with a spatial resolution of 0.44 mm from-center-tocenter, equivalent to the array density of 522 points cm −2 , that is 2 times higher than that of the human mechanoreceptors on the fingertip, [65] of which the high-sensitivity iontronic mechanism guarantees resolution, even in a sub-millimeter size.…”

Section: Multi-modality Tactile Sensing For Underwater Roboticsmentioning

confidence: 99%

Aquatic Skin Enabled by Multi‐Modality Iontronic Sensing

Cheng

Guo

et al. 2022

Adv Funct Materials

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Perception of information is of critical importance for aquatic activities; however, the complex underwater situation faces unique technical challenges to address. Thus, an underwater environment-incorporated sensing strategy, referred to as aquatic skin, has been introduced with multi-modality sensing capacities of contact pressure, tactile mapping, depth, temperature, and salinity in a flexible architecture. Remarkably, this has been all achieved by a multi-modality iontronic sensing principle in an all-in-one structural configuration, simplifying the sensor design, material preparation, device fabrication, and signal processing. Particularly, an inverse iontronic sensing mechanism, utilizing complementary elastomeric-electrode and environmental-electrode interfaces, is developed for contact pressure detection with exceptional resolution and hydraulic balance. Moreover, a hydrophobic ionic gel with adjustable surface morphologies has been developed as the functional sensing layer for all the units with long-term stability. Consequently, the aquatic skin can achieve sub-Pascal resolution of contact pressure detection (0.59 Pa), and sub-millimeter spatial resolution of tactile mapping (522 pts cm −2 ) over an extended range of depths (0-40 m), while the environmental influences can be spontaneously eliminated through a self-compensation process. The aquatic skin is applied toward several representative underwater scenes, including real-time monitoring of vital/environmental signals, tactile recognition of creatures, and biomechanical analysis of fish swimming.

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Section: Multi-modality Tactile Sensing For Underwater Roboticsmentioning

confidence: 99%

Aquatic Skin Enabled by Multi‐Modality Iontronic Sensing

Cheng

Guo

et al. 2022

Adv Funct Materials

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“…Furthermore, Chen et al 99 studied the relationship between the bending angle and the pressure of the fluid. They developed a flexible water hydraulic soft bending actuator (FWBA) for a fishtail as shown in Figure 7(c).…”

Section: Smart Soft Actuators For Propulsionmentioning

confidence: 99%

Section: Dynamic Modelingmentioning

confidence: 99%

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A comprehensive review on fish-inspired robots

et al. 2022

International Journal of Advanced Robotic Systems

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Recently, the increasing interest in underwater exploration motivates the development of aquatic unmanned vehicles. To execute hazardous tasks in an unknown or even hostile environment, researchers have directed on developing biomimetic robots inspired by the extraordinary maneuverability, cruising speed, and propulsion efficiency of fish. Nevertheless, the performance of current prototypes still has gaps compared with that of real fishes. In this review, recent approaches in structure designs, actuators, and sensors are presented. In addition, the theoretical methods for modeling the robotic fishes are consolidated, and the control strategies are offered. Finally, the current challenges are summarized, and possible future directions are deeply discussed. It is expected that the emergence of new engineering and biological technologies will enhance the field of robotic fish for further advancement.

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“…The medium in which the robot is used is another matter of great concern [3]. The performance of a robotic system does not only depend on the input torques, and the general features of the surroundings affect the system motion [4,5]. When this medium is a liquid or gas, the limitations of using humans increase the importance of robotic arms [6,7].…”

Section: Introductionmentioning

confidence: 99%

Motion Equations Derivation of Flexible-Link Manipulators with Time- Dependent Link’s Length operated in Fluid Medium

Dehkordi

2022

Preprint

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This article focuses on the derivation of the motion equations of flexible-links manipulator composed time-dependent link length in the fluid medium, necessitating the inspection of fluid-arms interaction during two simultaneous rigid and elastic motions. The system’s rigid motion consisting of rotational and reciprocating movements of links and the link’s oscillating motion due to their elasticity are both considered. These oscillations, which are posited to be small, are not exclusively a function of the excitations caused by the robot's motors, and the interaction between the manipulator’s links and the fluid medium also affects the links' deformation. Accordingly, the system oscillation, which is a function of the link length stemming from the changes in the rigid modes, becomes dependent on the mechanical features of the surrounding fluid and applied force/moment to the joints based on the fluid-robot interaction type. This interaction can impact the system's elastic and rigid modes. Although the equations are comparable to those developed in previous research that considered a time-varying structure, they include the effects of both the input to joints' motors and the mechanical characteristics of surrounding environment, leading to complex and non-conservative equations. With the aid of recursive Gibbs-Appell formulation, the dynamic equations of the system are calculated based on the defined algorithm and external forces. These equations are evaluated by changing the surrounding fluid's mechanical properties and the links' elasticity and examining the effect of system weight change in MATLAB. The results show that the effects of fluid-manipulator interactions on the links' deformation is greater than the effect of changing link elasticity. Thus, the deformation increases by 100% when the medium’s density changes from 0 to 100 kg/m.

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Water hydraulic soft actuators for underwater autonomous robotic systems

Cited by 47 publications

References 28 publications

Aquatic Skin Enabled by Multi‐Modality Iontronic Sensing

Aquatic Skin Enabled by Multi‐Modality Iontronic Sensing

A comprehensive review on fish-inspired robots

Motion Equations Derivation of Flexible-Link Manipulators with Time- Dependent Link’s Length operated in Fluid Medium

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