Relevant bibliographies by topics / Soft robot

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  1. Journal articles
  2. Dissertations / Theses
  3. Books
  4. Book chapters
  5. Conference papers

Academic literature on the topic 'Soft robot'

Author: Grafiati
Published: 4 June 2021
Last updated: 7 September 2024

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Journal articles on the topic "Soft robot"

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Zhang, Ke, Yongqi Bi, and Ruiyu Zhang. "Design and Implementation of a Hybrid-Driven Soft Robot." Complexity 2024 (May 29, 2024): 1–17. http://dx.doi.org/10.1155/2024/7624799.

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Currently, soft robots alone cannot obtain the same operating speed as rigid robots, while rigid robots are not safe enough for human-robot interaction. To address this problem, this paper describes a hybrid robot system that combines both rigid and flexible systems for unknown domain exploration. The system consists of a four-wheeled robot chassis and a cylindrical pneumatic soft actuator, and finally, a computer is used to coordinate and control both. The hardware of the robot system is designed, a bending motion model is proposed, and SOFA framework is used to carry out finite element simulation (FEM) to verify the reasonableness of the design; linear motion speeds of up to 0.5 m/s, higher than the existing soft robots investigated, were verified experimentally separately after carrying the new module, and steering ability was retained; and the robot carrying the navigation module is verified to have a certain map building and localization function through the construction of the simultaneous localization and mapping (SLAM) experimental platform. The hybrid robot introduced in this paper can move quickly on flat terrain and can use its soft part to avoid wear and tear.
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Yu, Wancheng. "Potential future bottlenecks for soft robots and their corresponding solutions." Journal of Physics: Conference Series 2634, no. 1 (November 1, 2023): 012027. http://dx.doi.org/10.1088/1742-6596/2634/1/012027.

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Abstract This paper briefly introduces the current situation of soft robots. Then, through the analysis of the current situation, it is concluded that there are two bottlenecks for soft robots, which are material bottleneck and performance bottleneck. In terms of materials, a usable soft robot often requires multiple tasks at the same time, but soft robots lack materials that can meet the needs of multiple tasks at present. In terms of performance, soft robots are different from traditional robots. Soft robots have unlimited degrees of freedom, which will lead to the CPU processing a large amount of data. Therefore, this paper proposes to introduce the concept of robot group into soft robots and solve the problems existing in soft robots by using the characteristics of low CPU and low individual strength requirements of robot groups.
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Xu, Ruomeng, and Qingsong Xu. "Design of a Bio-Inspired Untethered Soft Octopodal Robot Driven by Magnetic Field." Biomimetics 8, no. 3 (June 22, 2023): 269. http://dx.doi.org/10.3390/biomimetics8030269.

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Inspired by insects in nature, an increasing number of soft robots have been proposed to mimic their locomotion patterns. As a wireless actuation method, the magnetic actuation technique has been widely applied to drive soft magnetic robots for diverse applications. Although recent works on soft materials have stimulated the development of soft robots, it is challenging to achieve the efficient movement of soft robots for in vivo biomedical application. Inspired by centipede locomotion, a soft octopodal robot is designed in this paper. The robot is fabricated by mixing magnetic particles with silicone polymers, which is then magnetized by a specific magnetic field. The prototypes can be actuated by an external magnetic field (5–8 mT) produced by custom-made electromagnetic coils. Experimental results show that the soft robot can move at a high speed in the range of 0.536–1.604 mm/s on different surfaces, including paper, wood, and PMMA. This indicates that the soft robot can achieve comparable speeds to other robots, while being driven by a lower magnitude, resulting in energy savings. Furthermore, it achieves a high speed of 0.823 mm/s on the surface of a pig colon. The fine capabilities of the soft robot in terms of crossing uneven biological surfaces and carrying external loads are demonstrated. The results indicate that the reported soft robot exhibits promising applications in the biomedical field.
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Lee, Seonghyeon, Insun Her, Woojun Jung, and Yongha Hwang. "Snakeskin-Inspired 3D Printable Soft Robot Composed of Multi-Modular Vacuum-Powered Actuators." Actuators 12, no. 2 (January 31, 2023): 62. http://dx.doi.org/10.3390/act12020062.

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A modular soft actuator with snakeskin-inspired scales that generates an anisotropic friction force is designed and evaluated in this study. The actuator makes it possible to fabricate soft robots that can move on various surfaces in the natural environment. For existing modulus soft robots, additional connectors and several independent pneumatic pumps are required. However, we designed precise connection and snake-scale structures integrated with a single pneumatic modular actuator unit. The precise structure was printed using a DLP 3D printer. The movement characteristics of the soft robot changed according to the angle of the scale structure, and the movement distance increased as the number of modular soft actuator units increased. Soft robots that can move in operating environments such as flat land, tubes, inclined paths, and water have been realized. Furthermore, soft robots with modularization strategies can easily add modular units. We demonstrate the ability to deliver objects 2.5 times heavier than the full weight of the soft robot by adding tong-like structure to the soft robot. The development of a soft robot inspired by snakeskin suggests an easy approach to soft robots that enables various tasks even in environments where existing robots have limited activity.
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Liu, Kerun, Weiwei Chen, Weimin Yang, Zhiwei Jiao, and Yuan Yu. "Review of the Research Progress in Soft Robots." Applied Sciences 13, no. 1 (December 22, 2022): 120. http://dx.doi.org/10.3390/app13010120.

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The soft robot is a new type of robot with strong adaptability, good pliability, and high flexibility. Today, it is widely used in the fields of bioengineering, disaster rescue, industrial production, medical services, exploration, and surveying. In this paper, the typical driven methods, 3D printing technologies, applications, the existed problems, and the development prospects for soft robots are summarized comprehensively. Firstly, the driven methods and materials of the soft robot are introduced, including fluid driven, smart materials driven, chemical reaction driven, a twisted and coiled polymer actuator, and so on. Secondly, the basic principles and characteristics of mainstream 3D printing technologies for soft materials are introduced, including FDM, DIW, IP, SLA, SLS, and so on. Then, current applications of soft robots, such as bionic structures, gripping operations, and medical rehabilitation are described. Finally, the problems existing in the development of soft robots, such as the shortage of 3D printable soft materials, efficient and effective manufacturing of soft robots, shortage of smart soft materials, efficient use of energy, the realization of complex motion forms of soft robot, control action accuracy and actual kinematic modeling are summarized. Based on the above, some suggestions are put forward pertinently, and the future development and applications of the soft robot are prospected.
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Gu, Guoying, Jiang Zou, Ruike Zhao, Xuanhe Zhao, and Xiangyang Zhu. "Soft wall-climbing robots." Science Robotics 3, no. 25 (December 19, 2018): eaat2874. http://dx.doi.org/10.1126/scirobotics.aat2874.

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Existing robots capable of climbing walls mostly rely on rigid actuators such as electric motors, but soft wall-climbing robots based on muscle-like actuators have not yet been achieved. Here, we report a tethered soft robot capable of climbing walls made of wood, paper, and glass at 90° with a speed of up to 0.75 body length per second and multimodal locomotion, including climbing, crawling, and turning. This soft wall-climbing robot is enabled by (i) dielectric-elastomer artificial muscles that generate fast periodic deformation of the soft robotic body, (ii) electroadhesive feet that give spatiotemporally controlled adhesion of different parts of the robot on the wall, and (iii) a control strategy that synchronizes the body deformation and feet electroadhesion for stable climbing. We further demonstrate that our soft robot could carry a camera to take videos in a vertical tunnel, change its body height to navigate through a confined space, and follow a labyrinth-like planar trajectory. Our soft robot mimicked the vertical climbing capability and the agile adaptive motions exhibited by soft organisms.
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Yu, Zhang, Huang Peiyu, You Bo, Yu Zhibin, Li Dongjie, and Dong Guoqi. "Design and Motion Simulation of a Soft Robot for Crawling in Pipes." Applied Bionics and Biomechanics 2023 (February 5, 2023): 1–8. http://dx.doi.org/10.1155/2023/5334604.

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In recent years, soft pipeline robot, as a new concept, is proposed to adapt to tunnel. The soft pipeline robots are made of soft materials such as rubber or silicone. These materials have good elasticity, which enhance the adaptability of the soft pipeline robot. Therefore, the soft pipeline robot has better performance on deformability than rigid robot. However, the structure of tunnel is complex and varied that brought challenges on design structure of soft pipeline robot. In this paper, we propose soft pipeline robot with simple structure and easy fabrication, which can be realized straight, turning motion in a variety of tunnels with different diameters. The soft pipeline robot composed of two types of structure, which are expansion part and deformation part. Front and rear deformation part for bending and position fixation, and middle expansion part for elongation, so the pipeline soft robot can be moved in various structures of tunnels. Moreover, the locomotion ability and adaptability in tunnel are verified by simulating on software. The structure of chamber proposed in this paper can guide the design method of soft pipeline robot.
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Calisti, M., G. Picardi, and C. Laschi. "Fundamentals of soft robot locomotion." Journal of The Royal Society Interface 14, no. 130 (May 2017): 20170101. http://dx.doi.org/10.1098/rsif.2017.0101.

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Soft robotics and its related technologies enable robot abilities in several robotics domains including, but not exclusively related to, manipulation, manufacturing, human–robot interaction and locomotion. Although field applications have emerged for soft manipulation and human–robot interaction, mobile soft robots appear to remain in the research stage, involving the somehow conflictual goals of having a deformable body and exerting forces on the environment to achieve locomotion. This paper aims to provide a reference guide for researchers approaching mobile soft robotics, to describe the underlying principles of soft robot locomotion with its pros and cons, and to envisage applications and further developments for mobile soft robotics.
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Zhao, Wenchuan, Yu Zhang, and Ning Wang. "Soft Robotics: Research, Challenges, and Prospects." Journal of Robotics and Mechatronics 33, no. 1 (February 20, 2021): 45–68. http://dx.doi.org/10.20965/jrm.2021.p0045.

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The soft robot is a kind of continuum robot, which is mainly made of soft elastic material or malleable material. It can be continuously deformed in a limited space, and can obtain energy in large bending or high curvature distortion. It has obvious advantages such as high security of human-computer interaction, strong adaptability of unstructured environment, high driving efficiency, low maintenance cost, etc. It has wide application prospects in the fields of industrial production, defense military, medical rehabilitation, exploration, and so on. From the perspective of the bionic mechanism, this paper introduces the soft robots corresponding to insect crawling, snake crawling, fish swimming, elephant trunk, arm, etc. According to different driving modes, the soft robots can be classified into pneumatic-hydraulic driven, intelligent material driven, chemical reaction driven, and so on. The mechanical modeling, control strategy, material, and manufacturing methods of soft robot are summarized, and the application fields of soft robot are introduced. This paper analyzes the main challenges faced by the research on the key technologies of soft robots, summarizes and analyzes them, and puts forward the prospects for the future research of soft robots. The development trend of the future is to develop the soft robot with the characteristics of micro-scale, rigid-flexible coupling, variable stiffness, multi-functional, high integration, and intelligence of driving sensor control.
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Liu, Zhipeng, Linsen Xu, Xingcan Liang, and Jinfu Liu. "Stiffness-Tuneable Segment for Continuum Soft Robots with Vertebrae." Machines 10, no. 7 (July 18, 2022): 581. http://dx.doi.org/10.3390/machines10070581.

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In addition to high compliance to unstructured environments, soft robots can be further improved to gain the advantages of rigid robots by increasing stiffness. Indeed, realizing the adjustable stiffness of soft continuum robots can provide safer interactions with objects and greatly expand their application range. To address the above situation, we propose a tubular stiffening segment based on layer jamming. It can temporarily increase the stiffness of the soft robot in a desired configuration. Furthermore, we also present a spine-inspired soft robot that can provide support in tubular segments to prevent buckling. Theoretical analysis was conducted to predict the stiffness variation of the robot at different vacuum levels. Finally, we integrated the spine-inspired soft robot and tubular stiffening segment to obtain the tuneable-stiffness soft continuum robot (TSCR). Experimental tests were performed to evaluate the robot’s shape control and stiffness tuning effectiveness. Experimental results showed that the bending stiffness of the initial TSCR increased by more than 15× at 0°, 30× at 90°, and 60× in compressive stiffness.
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Dissertations / Theses on the topic "Soft robot"

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Thorapalli, Muralidharan Seshagopalan, and Ruihao Zhu. "Continuum Actuator Based Soft Quadruped Robot." Thesis, KTH, Mekatronik, 2020. http://urn.kb.se/resolve?urn=urn:nbn:se:kth:diva-286348.

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Quadruped robots can traverse a multitude of terrains with greater ease when compared to wheeled robots. Traditional rigid quadruped robots possess severe limitations as they lack structural compliance. Most of the existing soft quadruped robots are tethered and are actuated using pneumatics, which is a low grade energy source and lacks viability for long endurance robots. The work in this thesis proposes the development of a continuum actuator driven quadruped robot which can provide compliance while being un-tethered and electro-mechanically driven. In this work, continuum actuators are developed using mostly 3D printed parts. Additionally, the closed loop control of continuum actuators for walking is developed. Linear Quadratic Regulator (LQR) and pole placement based methods for controller synthesis were evaluated and LQR was determined to be better when minimizing the actuator effort and deviation from set-point. These continuum actuators are composed together to form a quadruped. Gait analyses on the quadruped were conducted and legs of the quadruped were able to trace the gaits for walking and galloping.
Fyrfotarobotar kan lättare korsa en mängd olika terränger jämfört med hjulrobotar. Traditionella styva fyrfotarobotar har kraftiga begränsningar då de saknar strukturell följsamhet. De flesta befintliga mjuka fyrbenta robotar är kopplade till en eller flera kablar och drivs av pneumatik, vilket är en lågkvalitativ energikälla och lämpar sig inte för robotar med lång uthållighet. Arbetet i denna avhandling föreslår utvecklingen av en continuum ställdonsdriven fyrfotarobot, som ger följsamhet samtidigt som den ¨ar frånkopplad och elektromekaniskt driven. I detta arbete framställs continuum ställdon med mestadels 3D-printade delar. Dessutom utvecklas dessa ställdons slutna kontrolloop för gång. Linjärkvadratisk regulator (LQR) och metoder baserade på polplacering utvärderades för styrsyntes, och det fastställdes att LQR presterade bättre när man minimerar ställdonets ansträngning samt avvikelse från referensvärde. Continuum ställdon sammansattes för att bilda en fyrbent robot. Gånganalyser utfördes på roboten och dess ben kunde följa gång- och galopprörelser.
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Al, Abeach L. A. T. "Pneumatic variable stiffness soft robot end effectors." Thesis, University of Salford, 2017. http://usir.salford.ac.uk/44183/.

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Traditionally, robots have been formed from heavy rigid materials and have used stiff actuator technologies. This means they are not well suited to operation near humans due to the associated high risk of injury, should a collision occur. Additionally, rigid robots are not well suited to operation in an unstructured environment where they may come into contact with obstacles. Furthermore, traditional stiff robots can struggle to grasp delicate objects as high localised forces can damage the item being held. The relatively new field of soft robotics is inspired by nature, particularly animals which do not have skeletons but which still have the ability to move and grasp in a skilful manner. Soft robotics seeks to replicate this ability through the use of new actuation technologies and materials. This research presents the design of a variable stiffness, soft, three-fingered dexterous gripper. The gripper uses contractor pneumatic muscles to control the motion of soft fingers. The soft nature of the gripper means it can deform if it collides with obstacles, and because grasping forces are spread over a larger area the chance of damaging the object being held is reduced. The gripper has the ability to vary its stiffness depending upon how it is to be used, and in this regard two methods of varying the stiffness are explored. In the first method, the finger is formed from an extensor muscle which acts antagonistically against the contractor muscles. Increasing the total pressure in the system increases the stiffness of the fingers. The second approach uses granular jamming to vary the stiffness of the actual finger structure. This thesis explores the behaviour of both extensor and contractor pneumatic muscles and develops a new simplified mathematical model of the actuator’s behaviour. The two methods of stiffness variation are then assessed experimentally. A number of multi-fingered grippers are then designed and their kinematics determined before prototypes are presented. Control of the grippers was then explored, along with the ability to adjust the stiffness of the grasp.
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Homberg, Bianca (Bianca S. ). "Robust proprioceptive grasping with a soft robot hand." Thesis, Massachusetts Institute of Technology, 2016. http://hdl.handle.net/1721.1/106123.

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Thesis: M. Eng., Massachusetts Institute of Technology, Department of Electrical Engineering and Computer Science, 2016.
Cataloged from PDF version of thesis.
Includes bibliographical references (pages 85-88).
This work presents a soft hand capable of robustly grasping and identifying objects based on internal state measurements along with a combined system which autonomously performs grasps. A highly compliant soft hand allows for intrinsic robustness to grasping uncertainties; the addition of internal sensing allows the configuration of the hand and object to be detected. The hand can be configured in different ways using finger unit modules. The finger module includes resistive force sensors on the fingertips for contact detection and resistive bend sensors for measuring the curvature profile of the finger. The curvature sensors can be used to estimate the contact geometry and thus to distinguish between a set of grasped objects. With one data point from each finger, the object grasped by the hand can be identified. A clustering algorithm to find the correspondence for each grasped object is presented for both enveloping grasps and pinch grasps. This hand is incorporated into a full system with vision and motion planning on the Baxter robot to autonomously perform grasps of objects placed on a table. This hand is a first step towards proprioceptive soft grasping.
by Bianca Homberg.
M. Eng.
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Kandhari, Akhil. "Control and Analysis of Soft Body Locomotion on a Robotic Platform." Case Western Reserve University School of Graduate Studies / OhioLINK, 2020. http://rave.ohiolink.edu/etdc/view?acc_num=case1579793861351961.

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Tzemanaki, A. "Anthropomorphic surgical system for soft tissue robot-assisted surgery." Thesis, University of the West of England, Bristol, 2016. http://eprints.uwe.ac.uk/28870/.

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Over the past century, abdominal surgery has seen a rapid transition from open procedures to less invasive methods such as laparoscopy and robot-assisted minimally invasive surgery (R-A MIS). These procedures have significantly decreased blood loss, postoperative morbidity and length of hospital stay in comparison with open surgery. R-A MIS has offered refined accuracy and more ergonomic instruments for surgeons, further minimising trauma to the patient. This thesis aims to investigate, design and prototype a novel system for R-A MIS that will provide more natural and intuitive manipulation of soft tissues and, at the same time, increase the surgeon's dexterity. The thesis reviews related work on surgical systems and discusses the requirements for designing surgical instrumentation. From the background research conducted in this thesis, it is clear that training surgeons in MIS procedures is becoming increasingly long and arduous. Furthermore, most available systems adopt a design similar to conventional laparoscopic instruments or focus on different techniques with debatable benefits. The system proposed in this thesis not only aims to reduce the training time for surgeons but also to improve the ergonomics of the procedure. In order to achieve this, a survey was conducted among surgeons, regarding their opinions on surgical training, surgical systems, how satisfied they are with them and how easy they are to use. A concept for MIS robotic instrumentation was then developed and a series of focus group meetings with surgeons were run to discuss it. The proposed system, named microAngelo, is an anthropomorphic master-slave system that comprises a three-digit miniature hand that can be controlled using the master, a three-digit sensory exoskeleton. While multi-fingered robotic hands have been developed for decades, none have been used for surgical operations. As the system has a human centred design, its relation to the human hand is discussed. Prototypes of both the master and the slave have been developed and their design and mechanisms is demonstrated. The accuracy and repeatability of the master as well as the accuracy and force capabilities of the slave are tested and discussed.
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Cloitre, Audren Damien Prigent. "Design and control of a soft biomimetic batoid robot." Thesis, Massachusetts Institute of Technology, 2013. http://hdl.handle.net/1721.1/81598.

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Thesis (S.M.)--Massachusetts Institute of Technology, Dept. of Mechanical Engineering, 2013.
Cataloged from PDF version of thesis.
Includes bibliographical references (p. 71-74).
This thesis presents the work accomplished in the design, experimental characterization and control of a soft batoid robot. The shape of the robot is based on the body of the common stingray, Dasyatidae, and is made of soft silicone polymers. Although soft batoid robots have been previously studied, the novelty brought by the present work centers around autonomy and scale, making it suitable for field operations. The design of the robot relies on the organismic consideration that the stingray body is rigid at its center and flexible towards its fins. Indeed, all mechanical and electrical parts are inside a rigid shell embedded at the center of the robot's flexible body. The silicone forms a continuum which encases the shell and constitutes the two pectoral fins of the robot. The core idea of this design is to make use of the natural modes of vibration of the soft silicone to recreate the fin kinematics of an actual stingray. By only actuating periodically the front of the fins, a wave propagating downstream the soft fins is created, producing a net forward thrust. Experiments are conducted to quantify the robot's swimming capabilities at different regimes of actuation. The forward velocity, the stall forces produced by the robot when it is flapping its fins while being clamped, and the power consumption of the actuation are all measured. The peak velocity of the robot is 0.35 body-length per second and is obtained for a flapping frequency of 1.4 Hz and a flapping amplitude of 30°. At a flapping frequency of 2 Hz, and an amplitude of 30°, the maximum stall forward force of the robot averages at 45 Newtons and peaks at 150 Newtons. Other data collected is used to better understand the hydrodynamics of the robot.
by Audren Damien Prigent Cloitre.
S.M.
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Kraus, Dustan Paul. "Coordinated, Multi-Arm Manipulation with Soft Robots." BYU ScholarsArchive, 2018. https://scholarsarchive.byu.edu/etd/7066.

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Soft lightweight robots provide an inherently safe solution to using robots in unmodeled environments by maintaining safety without increasing cost through expensive sensors. Unfortunately, many practical problems still need to be addressed before soft robots can become useful in real world tasks. Unlike traditional robots, soft robot geometry is not constant but can change with deflation and reinflation. Small errors in a robot's kinematic model can result in large errors in pose estimation of the end effector. This error, coupled with the inherent compliance of soft robots and the difficulty of soft robot joint angle sensing, makes it very challenging to accurately control the end effector of a soft robot in task space. However, this inherent compliance means that soft robots lend themselves nicely to coordinated multi-arm manipulation tasks, as deviations in end effector pose do not result in large force buildup in the arms or in the object being manipulated. Coordinated, multi-arm manipulation with soft robots is the focus of this thesis. We first developed two tools enabling multi-arm manipulation with soft robots: (1) a hybrid servoing control scheme for task space control of soft robot arms, and (2) a general base placement optimization for the robot arms in a multi-arm manipulation task. Using these tools, we then developed and implemented a simple multi-arm control scheme. The hybrid servoing control scheme combines inverse kinematics, joint angle control, and task space servoing in order to reduce end effector pose error. We implemented this control scheme on two soft robots and demonstrated its effectiveness in task space control. Having developed a task space controller for soft robots, we then approached the problem of multi-arm manipulation. The placement of each arm for a multi-arm task is non-trivial. We developed an evolutionary optimization that finds the optimal arm base location for any number of user-defined arms in a user-defined task or workspace. We demonstrated the utility of this optimization in simulation, and then used it to determine the arm base locations for two arms in two real world coordinated multi-arm manipulation tasks. Finally, we developed a simple multi-arm control scheme for soft robots and demonstrated its effectiveness using one soft robot arm, and one rigid robot with low-impedance torque control. We placed each arm base in the pose determined by the base placement optimization, and then used the hybrid servoing controller in our multi-arm control scheme to manipulate an object through two desired trajectories.
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Boxerbaum, Alexander Steele. "Continuous Wave Peristaltic Motion in a Robot." Case Western Reserve University School of Graduate Studies / OhioLINK, 2012. http://rave.ohiolink.edu/etdc/view?acc_num=case1333649965.

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Giannaccini, M. E. "Safe and effective physical human-robot interaction : approaches to variable compliance via soft joints and soft grippers." Thesis, University of the West of England, Bristol, 2015. http://eprints.uwe.ac.uk/27224/.

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The work described in this thesis focusses on designing and building two novel physical devices in a robotic arm structure. The arm is intended for human-robot interaction in the domestic assistive robotics area. The first device aims at helping to ensure the safety of the human user. It acts as a mechanical fuse and disconnects the robotic arm link from its motor in case of collision. The device behaves in a rigid manner in normal operational times and in a compliant manner in case of potentially harmful collisions: it relies on a variable compliance. The second device is the end-effector of the robotic arm. It is a novel grasping device that aims at accommodating varying object shapes. This is achieved by the structure of the grasping device that is a soft structure with a compliant and a rigid phase. Its completely soft structure is able to mould to the object's shape in the compliant phase, while the rigid phase allows holding the object in a stable way. In this study, variable compliance is defined as a physical structure's change from a compliant to a rigid behaviour and vice versa. Due to its versatility and effectiveness, variable compliance has become the founding block of the design of the two devices in the robot arm physical structure. The novelty of the employment of variable compliance in this thesis resides in its use in both rigid and soft devices in order to help ensure both safety and adaptable grasping in one integrated physical structure, the robot arm. The safety device has been designed, modelled, produced, tested and physically embedded in the robot arm system. Compared to previous work in this field, the feature described in this thesis' work has a major advantage: its torque threshold can be actively regulated depending on the operational situation. The threshold torque is best described by an exponential curve in the mathematical model while it is best fit by a second order equation in the experimental data. The mismatch is more considerable for high values of threshold torque. However, both curves reflect that threshold torque magnitude increases by increasing the setting of the device. Testing of both the passive decoupling and active threshold torque regulation show that both are successfully obtained. The second novel feature of the robot arm is the soft grasping device inspired by hydrostatic skeletons. Its ability to passively adapts to complex shapes objects, reduces the complexity of the grasping action control. This gripper is low-cost, soft, cable-driven and it features no stiff sections. Its versatility, variable compliance and stable grasp are shown in several experiments. A model of the forward kinematics of the system is derived from observation of its bending behaviour. Variable compliance has shown to be a very relevant principle for the design and implementation of a robotic arm aimed at safely interacting with human users and that can reduce grasp control complexity by passively adapting to the object's shape.
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AMARA, VISHNU DEV. "Energetic and Dynamic Performance Enhancements for Compliant Robot Actuation." Doctoral thesis, Università degli studi di Genova, 2021. http://hdl.handle.net/11567/1045123.

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The vast repertoire of human skills enable nimble and graceful execution of several habitual tasks. On the contrary, despite many advances, robots are still far from matching human capabilities. Robots can be envisioned to take up the oft-touted dull, dirty and dangerous humans jobs only with breakthroughs in their energetic and dynamic characteristics. A typical bio-inspired approach that can potentially help robots achieve the aforesaid performance aspects is joint compliance. Compliant actuation technology has vastly diversified in the last decade. A survey of the various actuator methodologies hints at possible advances for series-clutched and series-parallel multi-articulated actuation. To address them, the thesis builds upon these existing actuation concepts and focuses on specifically improving their energetic and dynamic performance characteristics. Energetic benefits of series elastic actuation is often marred by gearbox friction. An instance is when friction dissipates the link energy impeding gravity-driven link motions. At such instances, clutches can help stem undesired power-flows by decoupling the link and motor. In addition, when natural link motions are to be damped while not driving the actuator, clutches can be used to actively exploit slippage to dissipate the excess mechanical energy. Such a continuous clutching action has significant implications for energy economy. Therefore, first contributions of this thesis is towards deriving an energy-based model and an optimal controller for a series clutched actuator. In addition, an optimization-based approach is sought to obtain design parameters for a physical implementation of the actuator. Parallel actuators can often augment series elastic actuators as secondary torque sources. Owing to their energy storage capabilities, they have been used to greatly enhance robot energetics. However, the joint torque resolution problem when employing dissimilar (series and parallel) actuators is difficult, more so when the parallel actuators are biarticulated. Therefore, a second contribution of the thesis is towards deriving an energetic criteria-driven, torque resolution controller. An energetic analysis of the various criteria predicts that allocation of maximum possible torque demand to the higher efficiency actuators may not necessarily be the best strategy at all times. The analysis when extended to a wider range of motion frequencies predicts progressively lesser utilization of parallel actuators can contribute to higher energy-economy. Through energy-recycling, mono and biarticulated parallel compliance can amplify jumping performance of series elastic actuated robots. While the principle augments robot performance from the mechanical domain, joint velocities powered by series actuators yet suffer from limited voltage. Field weakening is applied at the electrical level to alleviate voltage constraints. In order to maximize energetic economy during such highly dynamic motions, trajectory optimization is further employed with knowledge of actuation capabilities and novel power constraints. Therefore, the confluence of these methods is proposed and experimentally demonstrated to significantly enhance jumping performance. Finally, the efficacy of these concepts towards enhancing explosive motions are quantified through a centroidal dynamic manipulability analysis. These results lead to a third broad contribution from this thesis.
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Books on the topic "Soft robot"

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Xia, Boxi. Soft actuator and agile soft robot. [New York, N.Y.?]: [publisher not identified], 2022.

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Inoue, Takahiro. Mechanics and control of soft-fingered manipulation. London: Springer, 2009.

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Inoue, Takahiro. Mechanics and control of soft-fingered manipulation. London: Springer, 2009.

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Inoue, Takahiro. Mechanics and control of soft-fingered manipulation. London: Springer, 2009.

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Galt, Stuart. Soft computing based motion control for an eight-legged robot. Portsmouth: University of Portsmouth, Dept. of Electricsl and Electronic Engineering, 1998.

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Suzumori, Koichi, Kenjiro Fukuda, Ryuma Niiyama, and Kohei Nakajima, eds. The Science of Soft Robots. Singapore: Springer Nature Singapore, 2023. http://dx.doi.org/10.1007/978-981-19-5174-9.

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1963-, Zhou Changjiu, Maravall Darío 1952-, and Ruan Da, eds. Autonomous robotic systems: Soft computing and hard computing : methodologies and applications. Heidelberg: Physica-Verlag, 2003.

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Jain, Lakhmi C. Soft Computing for Intelligent Robotic Systems. Heidelberg: Physica-Verlag HD, 1998.

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Zhou, Changjiu. Autonomous Robotic Systems: Soft Computing and Hard Computing Methodologies and Applications. Heidelberg: Physica-Verlag HD, 2003.

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Hirai, Shinichi, and Takahiro Inoue. Mechanics and Control of Soft-Fingered Manipulation. Springer London, Limited, 2010.

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Book chapters on the topic "Soft robot"

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Kundrat, Dennis, Andreas Schoob, Lüder A. Kahrs, and Tobias Ortmaier. "Flexible Robot for Laser Phonomicrosurgery." In Soft Robotics, 265–71. Berlin, Heidelberg: Springer Berlin Heidelberg, 2015. http://dx.doi.org/10.1007/978-3-662-44506-8_22.

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Valdivia y Alvarado, Pablo, and Kamal Youcef-Toumi. "Soft-Body Robot Fish." In Springer Tracts in Mechanical Engineering, 161–91. Berlin, Heidelberg: Springer Berlin Heidelberg, 2015. http://dx.doi.org/10.1007/978-3-662-46870-8_6.

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Otake, Mihoko. "Motion Design-A Gel Robot Approach." In Soft Actuators, 429–40. Singapore: Springer Singapore, 2019. http://dx.doi.org/10.1007/978-981-13-6850-9_26.

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Otake, Mihoko. "Motion Design-A Gel Robot Approach." In Soft Actuators, 343–54. Tokyo: Springer Japan, 2014. http://dx.doi.org/10.1007/978-4-431-54767-9_25.

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Haddadin, Sami. "Optimal Exploitation of Soft-Robot Dynamics." In Soft Robotics, 92–99. Berlin, Heidelberg: Springer Berlin Heidelberg, 2015. http://dx.doi.org/10.1007/978-3-662-44506-8_9.

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Wolf, Sebastian, Thomas Bahls, Maxime Chalon, Werner Friedl, Markus Grebenstein, Hannes Höppner, Markus Kühne, et al. "Soft Robotics with Variable Stiffness Actuators: Tough Robots for Soft Human Robot Interaction." In Soft Robotics, 231–54. Berlin, Heidelberg: Springer Berlin Heidelberg, 2015. http://dx.doi.org/10.1007/978-3-662-44506-8_20.

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Armbrust, Christopher, Lisa Kiekbusch, Thorsten Ropertz, and Karsten Berns. "Soft Robot Control with a Behaviour-Based Architecture." In Soft Robotics, 81–91. Berlin, Heidelberg: Springer Berlin Heidelberg, 2015. http://dx.doi.org/10.1007/978-3-662-44506-8_8.

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Wei, Tianqi, Adam Stokes, and Barbara Webb. "A Soft Pneumatic Maggot Robot." In Biomimetic and Biohybrid Systems, 375–86. Cham: Springer International Publishing, 2016. http://dx.doi.org/10.1007/978-3-319-42417-0_34.

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Agüero, Carlos, and Manuela Veloso. "Transparent Multi-Robot Communication Exchange for Executing Robot Behaviors." In Advances in Intelligent and Soft Computing, 215–22. Berlin, Heidelberg: Springer Berlin Heidelberg, 2012. http://dx.doi.org/10.1007/978-3-642-28762-6_26.

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Cherfouh, K., E. W. Handerson, J. Gu, E. Scheme, M. Asad, and U. Farooq. "Robot Identification using Modern Pattern Recognition Techniques." In Soft Computing Applications, 28–40. Cham: Springer International Publishing, 2023. http://dx.doi.org/10.1007/978-3-031-23636-5_3.

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Conference papers on the topic "Soft robot"

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Hall, Robin, and Cagdas D. Onal. "Untethered Underwater Soft Robot with Thrust Vectoring." In 2024 IEEE International Conference on Robotics and Automation (ICRA), 8828–34. IEEE, 2024. http://dx.doi.org/10.1109/icra57147.2024.10610430.

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Rus, Daniela. "Soft Robots: Increasing Robot Diversity with Soft Materials." In The 2021 Conference on Artificial Life. Cambridge, MA: MIT Press, 2021. http://dx.doi.org/10.1162/isal_a_00474.

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Angatkina, Oyuna, Kimberly Gustafson, Aimy Wissa, and Andrew Alleyne. "Path Following for the Soft Origami Crawling Robot." In ASME 2019 Dynamic Systems and Control Conference. American Society of Mechanical Engineers, 2019. http://dx.doi.org/10.1115/dscc2019-9175.

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Abstract Extensive growth of the soft robotics field has made possible the application of soft mobile robots for real world tasks such as search and rescue missions. Soft robots provide safer interactions with humans when compared to traditional rigid robots. Additionally, soft robots often contain more degrees of freedom than rigid ones, which can be beneficial for applications where increased mobility is needed. However, the limited number of studies for the autonomous navigation of soft robots currently restricts their application for missions such as search and rescue. This paper presents a path following technique for a compliant origami crawling robot. The path following control adapts the well-known pure pursuit method to account for the geometric and mobility constraints of the robot. The robot motion is described by a kinematic model that transforms the outputs of the pure pursuit into the servo input rotations for the robot. This model consists of two integrated sub-models: a lumped kinematic model and a segmented kinematic model. The performance of the path following approach is demonstrated for a straight-line following simulation with initial offset. Finally, a feedback controller is designed to account for terrain or mission uncertainties.
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Garcia, Martin, Amir Ali Amiri Moghadam, Ayse Tekes, and Randy Emert. "Development of a 3D Printed Soft Parallel Robot." In ASME 2020 International Mechanical Engineering Congress and Exposition. American Society of Mechanical Engineers, 2020. http://dx.doi.org/10.1115/imece2020-23138.

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Abstract This paper reports on design, fabrication, and kinematics modeling of a 3D printed soft parallel robot equipped with soft pneumatic actuators. Soft robotics is an emerging field of research which facilitates safe human machine interface. Soft elastomeric actuators made through molding process are one of the key elements of soft robotic systems. However, molding process is tedious and time consuming making the fabrication process undesirable. Recently reported 3D printed soft pneumatic actuators pave the way for manufacturing of novel soft actuators and robots with complex geometries. The current work can be considered as a proof of concept for 3D printing of a soft parallel robot. The robot consists of two soft pneumatic actuators that are connected to two passive links by mean of flexible hinges. The robot has two degrees of freedom and can be used in planar manipulation tasks. Moreover, a number of robots can be configured to operate in a cooperative manner to increase the manipulation dexterity. A kinematic model is developed to simulate the motion of robot end-effector. Through application of the kinematic model it has been shown that the robot is capable of following any planar trajectories within its workspace. Also, pseudo-rigid-body model (PRBM) is used to develop a dynamic model of the soft robot to more accurately predict the robot interaction with its environment and also develop advanced control system for robust position control of the robot.
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DeMario, Anthony, and Jianguo Zhao. "A Miniature, 3D-Printed, Walking Robot With Soft Joints." In ASME 2017 International Design Engineering Technical Conferences and Computers and Information in Engineering Conference. American Society of Mechanical Engineers, 2017. http://dx.doi.org/10.1115/detc2017-68182.

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Miniature robots have many applications ranging from military surveillance to search and rescue in disaster areas. Nevertheless, the fabrication of such robots has traditionally been labor-intensive and time-consuming. This paper proposes to directly leverage multi-material 3D printing (MM3P) to fabricate centimeter-scale robots by utilizing soft materials to create soft joints in replacement of revolute joints. We demonstrate the capability of MM3P by creating a miniature, four-legged walking robot. Moreover, we establish a numerical method based on the Psuedorigid-Body (PRB) 1R model to predict the motion of the leg mechanism with multiple soft joints. Experimental results verify the proposed numerical method. Meanwhile, a functional walking robot actuated by a single DC motor is demonstrated with a locomotion speed of one body length/sec. The proposed design, fabrication, and analysis for the walking robot can be readily applied to other robots that have mechanisms with soft joints.
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Ovando, Ammy, Sky Papendorp, Turaj Ashuri, and Amir Ali Amiri Moghadam. "Development of a Novel Hybrid Soft Cable-Driven Parallel Robot." In ASME 2023 International Mechanical Engineering Congress and Exposition. American Society of Mechanical Engineers, 2023. http://dx.doi.org/10.1115/imece2023-113598.

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Abstract This paper reports on the development of novel hybrid soft cable-driven parallel robots (HSCP). As the growth and refinement of the soft robotic field progresses, new methods of soft robotic actuation and control will continue to be developed. While most of the existing soft robotic systems have a serial structure, soft parallel robots have received a lot of attention recently. This is due to the wide range of applications of these systems in different industries such as the medical and the food industry. To the best of our knowledge, most of the existing soft parallel robots have active flexible legs. However, in this work for the first time, we have proposed a novel soft parallel robot with only passive flexible legs. In our hybrid design the stiffness of the robot is maintained through the passive soft legs and the actuation is based on a cable-driven mechanism. This will simplify the design and modeling of the robot. As an example of our design approach, a 6 degrees of freedom (DOF) hybrid soft parallel robot is designed which resembles the rigid Stewart mechanism. The mechanics of the robot are unique, being controlled only through cable actuation through six servo motors positioned around the base of the robot. The supports which were 3D printed with deformable Ninja Flex filament supply a nonlinear force to the robot, combined with the cable control enabling the robot to be able to execute basic movement within the workspace as well as being safer for human-machine interaction due to the soft support system. This paper also compares the kinematics and controls of this new robotic system to a typical rigid steward robot.
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Abidoye, Cecil, Devin Grace, Andrea Contreras-Esquen, Aden Edwards, Turaj Ashuri, Ayse Tekes, and Amir Ali Amiri Moghadam. "Development of a Novel 3-Universal-Spherical-Revolote Soft Parallel Robot." In ASME 2022 International Mechanical Engineering Congress and Exposition. American Society of Mechanical Engineers, 2022. http://dx.doi.org/10.1115/imece2022-95235.

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Abstract Soft parallel robots are among the latest advancements in the field of soft robotics with wide range of applications. Most of the existing soft robotic systems comprise from serial soft arms which can provide high degrees of freedom (DOF), but suffer from low stiffness, and limited payload due to their soft structure. To address these issues recently researchers have introduced soft parallel robots. Similar to their rigid counterparts, soft parallel robot will have higher blocking force, stiffness, and accuracy. We have previously introduced two, and three DOF soft parallel robots and in the current work we will introduce a novel six DOF robot named 3-universal-spherical-revolute (3USR) soft parallel robot. This robotic system is consisted of three closed-loop kinematic chains. Each chain includes a soft active arm with two DOF which is connected to a compliant passive link through soft joints. This configuration provides six DOF for the soft robot (x, y, z, roll, pitch, yaw). The prototype of the robot is 3D printed using NINJA flex, thermoplastic polyurethane (TPU), and polylactic acid (PLA). Each soft active arm consists of a two DOF tendon driven soft actuator which is 3D printed using NINJA flex and are actuated using two servo motors. Two types of soft joints are used namely soft spherical and revolute joints. The shape and size of the soft joints are optimized so that the robot will achieve six DOF. MATLAB Simscape model is used to simulate the dynamical response of the mechanism for various inputs.
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Luo, Ming, Mahdi Agheli, and Cagdas D. Onal. "Theoretical Modeling of a Pressure-Operated Soft Snake Robot." In ASME 2014 International Design Engineering Technical Conferences and Computers and Information in Engineering Conference. American Society of Mechanical Engineers, 2014. http://dx.doi.org/10.1115/detc2014-35340.

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This paper addresses the theoretical modeling of the dynamics of a pressure-operated soft snake robot. An accurate dynamic model is a fundamental requirement for optimization, control, navigation, and learning algorithms for a mobile robot that can undergo serpentine locomotion. Such algorithms can be readily implemented for traditional rigid robots, but remain a challenge for nonlinear and low-bandwidth soft robotic systems. A framework to solve the 2-D modeling problem of a soft robotic snake is detailed with a general approach applicable to most pressure-operated soft robots that are developed by a modular kinematic arrangement of bending-type fluidic elastomer actuators. The model is simulated using measured physical parameters of the robot and workspace. The theoretical results are verified through a proof-of-concept comparison to locomotion experiments on a flat surface with measured frictional properties. Experimental results indicate that the proposed model describes the motion of the robot.
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Glasgo, Nina, Mitchell Soohoo, and Yen-Lin Han. "Investigating the Design of a Soft Robot for Finger Rehabilitation." In ASME 2022 International Mechanical Engineering Congress and Exposition. American Society of Mechanical Engineers, 2022. http://dx.doi.org/10.1115/imece2022-92663.

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Abstract US National Health Interview Survey in 2018 found that 61 million adults aged 18 and over have disabilities. Physical rehabilitation is often prescribed to people with disabilities during their recovery process to regain their mobility. There are several rehabilitation robots available on the market. Some are made with rigid, stiff materials with limited flexibility and may be uncomfortable for patients to wear for an extended amount of time. Some recently developed rehabilitation robots are made with flexible materials like those found in living organisms, which are characterized as “soft robots”. Soft robots are generally made with polymers and actuated by pressurized gas inside of the polymer structure and potentially will be more comfortable to wear. Unlike most other soft robots with external tubes and pipes for fluid flows, in this paper, we are proposing a soft robot is actuated by heat. Our soft robot is designed by sealing a phase changing material (PCM) inside of several chambers made by polymer structure. When heat is applied, the PCM begins to change phase and the pressure inside the sealed chambers increases and expand the polymer structure to create a movement of the soft robot. In this study, we focus on constructing simulation models using ANSYS Fluent to examine the parameters relevant to our intended design. We also present a prototype to be tested in the future work.
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Baysa, Matthew, Noah Turoski, Manilyn Cabrera, and Yen-Lin Han. "“EXTENSOR” SOFT ROBOT FOR CLENCHED FIST REHABILITATION AFTER STROKE." In 2023 Design of Medical Devices Conference. American Society of Mechanical Engineers, 2023. http://dx.doi.org/10.1115/dmd2023-4176.

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Abstract Stroke is a leading cause of mobility impairments. As more people suffer from stroke, there is a growing need for rehabilitation. Rehabilitation robots have been proven effective in assisting patients in their rehabilitation process. However, many existing rehabilitation robots are costly, so the accessibility to patients in need is limited. Soft robot technology has great potential to make rehabilitation more accessible. This paper presents a proof-of-concept soft robot design that could be used for finger rehabilitation, especially for those who suffer from clenched fists after a stroke. Using silicone elastomer and pneumatic actuation, we successfully fabricated a soft robot that curled in its resting state to fit under the patient’s clenched fist and straightened when actuated by compressed air to push the patient’s fingers open. With a unique approach to bonding the two-layer silicone elastomer structure, our soft robot can change shape to straight from its original curling state with a small air pressure (2 to 3 psi). Preliminary testing results demonstrate our soft robot’s functionality and provide valuable insights for us to optimize our design further to reach our eventual goal as a rehabilitation device that assists finger rehabilitation.
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