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Xplore Articles related to Soft Robotics

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Workshops & Tutorials

2018 IEEE International Conference on Robotics and Automation (ICRA), 2018

Full Day Workshops & Tutorials


Structural Parameters Influence on a Soft Robotic Manipulator Finger Bend Angle Simulation

2019 IEEE 15th International Conference on the Experience of Designing and Application of CAD Systems (CADSM), 2019

In the paper structural parameters influence on a soft robotic manipulator finger bend angle simulation was performed. The change of parameters such as the thickness of the lower layer and the walls of the chamber, as well as the gap between the adjacent chambers and their influence on the finger bend angles was investigated. According to the simulation results, mathematical ...


Design and Motion Control of Biomimetic Soft Crawling Robot for GI Tract Inspection

2018 13th World Congress on Intelligent Control and Automation (WCICA), 2018

As cases of intestinal diseases increase, the need for gastrointestinal endoscopy has become very common nowadays. However, a major setback for conventional gastrointestinal endoscopy is the discomfort and complications induced by the procedure. This paper proposes a bio-inspired soft pneumatic actuator for active locomotion inside the gastrointestinal tract. The preliminary prototype of size 30 × 40 × 27 mm, comprises ...


Untethered Soft Robots with Bioinspired Bone-and-Flesh Constructs for Fast Deterministic Actuation

2019 20th International Conference on Solid-State Sensors, Actuators and Microsystems & Eurosensors XXXIII (TRANSDUCERS & EUROSENSORS XXXIII), 2019

We present a new class of soft robots inspired by the bone-and-flesh construct in human body for fast, deterministic actuation. Two distinctive advancements have been achieved: (1) untethered robots with external magnetic power, boasting high normalized power density of ~2*10-2/s (40-6,000,000× higher than most reports); (2) ultrafast and deterministic-shape actuation in ~0.1 seconds (100x faster than the state-of-the-art). Inspired by ...


A 3D-Printed Omni-Purpose Soft Gripper

IEEE Transactions on Robotics, None

Numerous soft grippers have been developed based on smart materials, pneumatic soft actuators, and underactuated compliant structures. In this article, we present a three-dimensional (3-D) printed omni-purpose soft gripper (OPSOG) that can grasp a wide variety of objects with different weights, sizes, shapes, textures, and stiffnesses. The soft gripper has a unique design that incorporates soft fingers and a suction ...


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  • Workshops & Tutorials

    Full Day Workshops & Tutorials

  • Structural Parameters Influence on a Soft Robotic Manipulator Finger Bend Angle Simulation

    In the paper structural parameters influence on a soft robotic manipulator finger bend angle simulation was performed. The change of parameters such as the thickness of the lower layer and the walls of the chamber, as well as the gap between the adjacent chambers and their influence on the finger bend angles was investigated. According to the simulation results, mathematical models describing these parameters dependence were obtained.

  • Design and Motion Control of Biomimetic Soft Crawling Robot for GI Tract Inspection

    As cases of intestinal diseases increase, the need for gastrointestinal endoscopy has become very common nowadays. However, a major setback for conventional gastrointestinal endoscopy is the discomfort and complications induced by the procedure. This paper proposes a bio-inspired soft pneumatic actuator for active locomotion inside the gastrointestinal tract. The preliminary prototype of size 30 × 40 × 27 mm, comprises of six air chambers aiming to mimic the prograde locomotion of land snails. The Pneumatic Control System is designed to manipulate the six compartments with four air channels to perform a wave motion on the sole of the soft robot. Pulse Width Modulation (PWM) is an additional function of the control system and allows for further manipulation of the amplitude, the propagation speed, and the wavelength of the pedal wave. Further testing shall be performed on the prototype to examine locomotion capability.

  • Untethered Soft Robots with Bioinspired Bone-and-Flesh Constructs for Fast Deterministic Actuation

    We present a new class of soft robots inspired by the bone-and-flesh construct in human body for fast, deterministic actuation. Two distinctive advancements have been achieved: (1) untethered robots with external magnetic power, boasting high normalized power density of ~2*10-2/s (40-6,000,000× higher than most reports); (2) ultrafast and deterministic-shape actuation in ~0.1 seconds (100x faster than the state-of-the-art). Inspired by the natural human architecture, our soft robots with different elastomer ("flesh") structures and magnet ("bone") placements can complete various tasks quickly and precisely (e.g., planar contraction, out-of-plane gesture transitions, breaking lock-in states, and manipulating small objects). We envision that our design and operation principles can be potentially extended to even more complex applications.

  • A 3D-Printed Omni-Purpose Soft Gripper

    Numerous soft grippers have been developed based on smart materials, pneumatic soft actuators, and underactuated compliant structures. In this article, we present a three-dimensional (3-D) printed omni-purpose soft gripper (OPSOG) that can grasp a wide variety of objects with different weights, sizes, shapes, textures, and stiffnesses. The soft gripper has a unique design that incorporates soft fingers and a suction cup that operate either separately or simultaneously to grasp specific objects. A bundle of 3-D-printable linear soft vacuum actuators (LSOVA) that generate a linear stroke upon activation is employed to drive the tendon-driven soft fingers. The support, fingers, suction cup, and actuation unit of the gripper were printed using a low-cost and open-source fused deposition modeling 3-D printer. A single LSOVA has a blocked force of 30.35 N, a rise time of 94 ms, a bandwidth of 2.81 Hz, and a lifetime of 26 120 cycles. The blocked force and stroke of the actuators are accurately predicted using finite element and analytical models. The OPSOG can grasp at least 20 different objects. The gripper has a maximum payload-to- weight ratio of 7.06, a grip force of 31.31 N, and a tip blocked force of 3.72 N.

  • Origami-inspired bi-directional soft pneumatic actuator with integrated variable stiffness mechanism

    The field of soft robotics has a wide array of applications, particularly in human-robotic interaction, from medical devices to assembly technology. In this paper, we introduce a novel design for a soft bi-directional pneumatic actuator inspired by the principles of origami. The actuator integrates a variable stiffness application using a layer jamming mechanism (LJM). LJM utilizes the effects of negative pressure on thin layers of material, providing rigidity. Incorporated into an origami bellows structure, the negative pressure causes both contractile action and stiffness, while extensive action is caused by an internal pneumatic chamber, allowing for contractile and extensive force application. Furthermore, the variable stiffness integration improved tensile force application threefold, resistance to outside linear force tenfold, and doubled sheer force resistance. The proposed origami-inspired bi-directional soft pneumatic soft actuator has immense potential to be implemented in complex biomedical applications in the near future.

  • Design and Fabrication of a Soft Robotic Manipulator Driven by Fiber-Reinforced Actuators

    This paper presents the design and implementation of a four-fingered soft robotic manipulator. Each finger is driven by a fiber-reinforced actuator. Unlike the traditional rigid robotic manipulators, the soft manipulator exhibits the advantage of high adaptability for grasping the objects of various shapes. A prototype is fabricated for experimental testing. Four bending sensors are integrated into the soft manipulator to provide the deformation feedback. A PID feedback control is realized to regulate the grasp force of the manipulator. Experimental results demonstrate the effectiveness of the developed soft robotic manipulator, which can grasp objects with different shapes and sizes.

  • Design of Two Segments Continuum Robot Arm Based on Pneumatic Muscle Actuator (PMA)

    This paper proposes a novel continuum robot arm based on the pneumatic muscle actuator (PMA). The simple design of the extensor and the contractor PMAs are used to implement the extension and the contraction sections respectively. Five actuators are used in each section to achieve an elongation and bending for the top section and a contraction and bending for the bottom section. Then, four self-bending contraction actuators (SBCA) are used instead of the five contractions PMA to enhance the bending performances. The performances of the proposed soft robot arm showed the advantages of using a biological inspiration robot arm for the unique features in comparison to its weight and cost.

  • Design of a Soft Robot Using Pneumatic Muscles for Elbow Rehabilitation

    The field of rehabilitation robot has grown rapidly in these years. And soft actuated rehabilitation robots prove to have some unique advantages over rigid body motor-driven rehabilitative robots. In this paper, a soft robot with two degree of freedom (DOF) was designed to assist the rehabilitation of elbow. Pneumatic muscles were built up and tested. They were assembled to make the whole device. A set of experiments were conducted to evaluate the functioning. The results and the analysis show that the device could finish the rehabilitation process on elbow under proper control. Future improvement are discussed in this paper.

  • A wearable soft pneumatic finger glove with antagonistic actuators for finger rehabilitation

    Loss of grasping ability in stroke patients can be partially cured through regular rehabilitation exercises. This paper aimed at the design and development of a soft robotic finger glove capable of producing two necessary motions for rehabilitaion-flexion and extension, by making use of antagonistic soft actuators. The glove was characterized through a series of experiments to study its variance in bending angle and force output with pressure. The glove showed a maximum bending angle of 68° and a maximum force of 120gf corresponding to an internal pressure of 30kPa. The developed finger glove seems to be a promising device that may improve the quality of life of stroke survivals and help them in hand rehabilitation in the comfort of their home.



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