Relevant bibliographies by topics / Soft Robotic Arm

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

Academic literature on the topic 'Soft Robotic Arm'

Author: Grafiati
Published: 4 June 2021
Last updated: 1 February 2022

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Journal articles on the topic "Soft Robotic Arm"

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Kumar, Surender, Kavita Rani, and V. K. Banga. "Robotic Arm Movement Optimization Using Soft Computing." IAES International Journal of Robotics and Automation (IJRA) 6, no. 1 (2017): 1. http://dx.doi.org/10.11591/ijra.v6i1.pp1-14.

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<p class="Text">Robots are commonly used in industries due to their versatility and efficiency. Most of them operating in that stage of the manufacturing process where the maximum of robot arm movement is utilized. Therefore, the robots arm movement optimization by using several techniques is a main focus for many researchers as well as manufacturer. The robot arm optimization is This paper proposes an approach to optimal control for movement and trajectory planning of a various degree of freedom in robot using soft computing techniques. Also evaluated and show comparative analysis of various degree of freedom in robotic arm to compensate the uncertainties like movement, friction and settling time in robotic arm movement. Before optimization, requires to understand the robot's arm movement i.e. its kinematics behavior. With the help of genetic algorithms and the model joints, the robotic arm movement is optimized. The results of robotic arm movement is optimal at all possible input values, reaches the target position within the simulation time.</p>
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Sipos, András A., and Péter L. Várkonyi. "The longest soft robotic arm." International Journal of Non-Linear Mechanics 119 (March 2020): 103354. http://dx.doi.org/10.1016/j.ijnonlinmec.2019.103354.

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Wang, Yaxi, and Qingsong Xu. "Design and Fabrication of a New Dual-Arm Soft Robotic Manipulator." Actuators 8, no. 1 (2019): 5. http://dx.doi.org/10.3390/act8010005.

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This paper presents the design and implementation of a dual-arm soft robotic manipulator. It consists of two soft manipulators, which are driven by pneumatic actuators. Each soft manipulator is composed of three soft modules, and each module includes three evenly distributed cavities inside. The flexible bending deformation of the soft module is produced by regulating the air pressure and changing the applying sequence to the cavities. The design and fabrication of the manipulator are presented in detail. The cooperation of the dual-arm soft robotic manipulator is implemented by adopting visual servo control. Experimental testing was carried out to demonstrate the manipulator performance. Unlike a single-arm manipulator, the robotic manipulator with dual arms features high flexibility, adaptability, and safety. The feasibility of the proposed dual-arm soft robotic manipulator is demonstrated by executing assembly tasks.
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Li, Xiaohui, Wei Zhang, and Liping Zhao. "Optimal Structure and Size of Multi-segment Soft Robotic Arms with Finite Element Method." E3S Web of Conferences 233 (2021): 04023. http://dx.doi.org/10.1051/e3sconf/202123304023.

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Pneumatic actuate of multi-segment soft robotic arm is a significant structure and has extensive applications. However, the study of the optimal structure and size of multi-segment soft robotic arm has not been achieved. In this study, the finite element method is used to optimized the structure and size of soft robotic arm. We report that the two-segment structure of soft robotic arm has better performance for the general manipulator operation task through evaluating bending angles with different structures and parameters. The optimal ratio of the total length of non-cavity section to the total length of the soft robotic arm with two-segment is 0.21. And soft robotic arm performs better when the length of the fixed first section, the linkage section between two cavity sections and the end section are equal. Two cavities in each segment has more advantages in tasks of plane bending, while three cavities structure has better adaptability when the task need bend in the space. These results in this study provide a reference and simplify the process for the structure and size design of the multi-segment soft robotic arm in the future.
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Nakajima, K., N. Schmidt, and R. Pfeifer. "Measuring information transfer in a soft robotic arm." Bioinspiration & Biomimetics 10, no. 3 (2015): 035007. http://dx.doi.org/10.1088/1748-3190/10/3/035007.

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Chen, Zhe, Xueya Liang, Tonghao Wu, Tenghao Yin, Yuhai Xiang, and Shaoxing Qu. "Pneumatically Actuated Soft Robotic Arm for Adaptable Grasping." Acta Mechanica Solida Sinica 31, no. 5 (2018): 608–22. http://dx.doi.org/10.1007/s10338-018-0052-4.

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Chen, Xiaojiao, Yaoxin Guo, Dehao Duanmu, Jianshu Zhou, Wei Zhang, and Zheng Wang. "Design and Modeling of an Extensible Soft Robotic Arm." IEEE Robotics and Automation Letters 4, no. 4 (2019): 4208–15. http://dx.doi.org/10.1109/lra.2019.2929994.

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Acome, E., S. K. Mitchell, T. G. Morrissey, et al. "Hydraulically amplified self-healing electrostatic actuators with muscle-like performance." Science 359, no. 6371 (2018): 61–65. http://dx.doi.org/10.1126/science.aao6139.

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Existing soft actuators have persistent challenges that restrain the potential of soft robotics, highlighting a need for soft transducers that are powerful, high-speed, efficient, and robust. We describe a class of soft actuators, termed hydraulically amplified self-healing electrostatic (HASEL) actuators, which harness a mechanism that couples electrostatic and hydraulic forces to achieve a variety of actuation modes. We introduce prototypical designs of HASEL actuators and demonstrate their robust, muscle-like performance as well as their ability to repeatedly self-heal after dielectric breakdown—all using widely available materials and common fabrication techniques. A soft gripper handling delicate objects and a self-sensing artificial muscle powering a robotic arm illustrate the wide potential of HASEL actuators for next-generation soft robotic devices.
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Hosovsky, Alexander, Jan Pitel, and Kamil Zidek. "ANALYSIS OF HYSTERETIC BEHAVIOR OF TWO-DOF SOFT ROBOTIC ARM." MM Science Journal 2016, no. 03 (2016): 935–41. http://dx.doi.org/10.17973/mmsj.2016_09_201625.

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Tamimi, Hammam, and Dirk Söffker. "Modeling of Elastic Robotic Arm using a Soft-Computing Algorithm." IFAC-PapersOnLine 48, no. 1 (2015): 655–56. http://dx.doi.org/10.1016/j.ifacol.2015.05.024.

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Dissertations / Theses on the topic "Soft Robotic Arm"

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Papastathis, Ioannis. "Intention Detection and Arm Kinematic Control in Soft Robotic Medical Assistive Device." Thesis, KTH, Skolan för teknik och hälsa (STH), 2015. http://urn.kb.se/resolve?urn=urn:nbn:se:kth:diva-173499.

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Aging in humans is often associated with reduced muscle strength and difficulty in elevating the arm and sustaining it at a certain position. The aim of this master thesis is to propose a number of technical solutions integrated into a complete electronic system which can be used to support the user's muscle capacity and partially resist gravitational load. An electronic system consisting of sensors, a control unit and an actuator has been developed. The system is able to detect the user's motion intention based on an angle detection algorithm and perform kinematic control over the user's arm by adjusting the level of support at different degrees of elevation. A force control algorithm has been developed for controlling the actuating mechanism, providing the user with a natural and intuitive support during arm elevation. The implemented system is a first step towards the development of a medical assistive device for the elderly or patients with reduced muscle strength allowing them to independently perform a number of personal activities of daily life where active participation of the upper limb is required.
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Dasht, Bozorg Amin. "Mechanical development for a soft robotics solution." Thesis, KTH, Maskinkonstruktion (Inst.), 2016. http://urn.kb.se/resolve?urn=urn:nbn:se:kth:diva-183537.

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Nowadays, the human ability to utilize the technology has increased. One of the most important branches of technology in human service is Robotics, which helps humans to perform their daily work.This thesis is a part of a big project (Iron Arm) that was done at the Bioservo Technology AB in Kista-Stockholm. Bioservo exerts its effort to use SEM™ (Soft Extra Muscle) technology to build the new products. The aim of this thesis work was to design an effective mechanical actuator that will complete the former prototype built by Bioservo through another master thesis work done by John Ekblom in 2014. The thesis also describes how a mechanical actuator can be used in a device (robotic arm) to provide extra force and to assist someone who has weak arm lifting muscles. A big challenge for this device is to have a low weight because the user should wear the device and carry it during the entire day.
Bioservo Technology AB är ett företag som etablerades i Sverige 2006 . Företaget samarbetar med läkare och sjukhus för att utveckla produkter för att hjälpa de som har svaga muskler. Det här examensarbete, som gjordes på Biservo Tecknology AB i Stockholm, är en del av projektet Iron Arm, som började 2014. Syftet med Iron Arm projektet är att assistera äldre som lider av nedsatt muskelstyrka och därmed har svårt att lyfta armen. I detta examensarbete konstrueras en aktuator som ger extra kraft för att lyfta armen och underlätta vardagsarbeten, som att kamma håret, äta mat, laga mat och att ta på sig ytterkläder.
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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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Yang, Hee Doo. "Modeling and Analysis of a Novel Pneumatic Artificial Muscle and Pneumatic Arm Exoskeleton." Thesis, Virginia Tech, 2017. http://hdl.handle.net/10919/78284.

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The soft robotics field is developing rapidly and is poised to have a wide impact in a variety of applications. Soft robots have intrinsic compliance, offering a number of benefits as compared to traditional rigid robots. Compliance can provide compatibility with biological systems such as the human body and can provide some benefits for human safety and control. Further research into soft robots can be advanced by further development of pneumatic actuators. Pneumatic actuators are a good fit for exoskeleton robots because of their light weight, small size, and flexible materials. This is because a wearable robot should be human friendly, therefore, it should be light weight, slim, powerful, and simple. In this paper, a novel pneumatic artificial muscle using soft materials including integrated electronics for wearable exoskeletons is proposed. We describe the design, fabrication, and evaluation of the actuator, as well as the manufacturing process used to create it. Compared to traditional pneumatic muscle actuators such as the McKibben actuator and new soft actuators that were recently proposed, the novel actuator overcomes shortcomings of prior work. This is due to the actuator's very high contraction ratio that can be controlled by the manufacturing process. In this paper, we describe the design, fabrication, and evaluation of a novel pneumatic actuator that can accommodate integrated electronics for displacement and pressure measurements used for data analysis and control. The desired performance characteristics for the actuator were 100 ~ 400N at between 35kPa and 105kPa, and upon testing we found almost 120 ~ 300N which confirms that these actuators may be suitable in soft exoskeleton applications with power requirements comparable to rigid exoskeletons. Furthermore, a novel soft pneumatic elbow exoskeleton based on the pneumatic actuator concept and manufacturing process is presented. Each structure is designed and manufactured with all fabric. The distally-worn structure is only 300g, which is light weight for an arm exoskeleton, and the design is simple, leading to a low materials cost.
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Varier, Vignesh Manoj. "Towards Automated Suturing of Soft Tissue: Automating Suturing Hand-off Task for da Vinci Research Kit Arm using Reinforcement Learning." Digital WPI, 2020. https://digitalcommons.wpi.edu/etd-theses/1369.

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Successful applications of Reinforcement Learning (RL) in the robotics field has proliferated after DeepMind and OpenAI showed the ability of RL techniques to develop intelligent robotic systems that could learn to perform complex tasks. Ever since the use of robots for surgical procedures, researchers have been trying to bring some sort of autonomy into the operating room. Surgical robotic systems such as da Vinci currently provide the surgeons with direct control. To relieve the stress and the burden on the surgeon using the da Vinci robot, semi-automating or automating surgical tasks such as suturing can be beneficial. This work presents a RL-based approach to automate the needle hand-off task. It puts forward two approaches based on the type of environment, a discrete and continuous space approach. For capturing a unique suturing style, user data was collected using the da Vinci Research Kit to generate a sparse reward function. It was used to derive an optimal policy using Q-learning for a discretized environment. Further, a RL framework for da Vinci Research Kit was developed using a real-time dynamics simulator - Asynchronous Multi-Body Framework (AMBF). A model was trained and evaluated to reach the desired goal using model-free RL techniques while considering the dynamics of the robot to help mitigate the difficulty in transferring trained model to real-world robots. Therefore, the developed RL framework would enable the RL community to train surgical robots using state of the art RL techniques and transfer it to real-world robots with minimal effort. Based on the results obtained, the viability of applying RL techniques to develop a supervised level of autonomy for performing surgical tasks is discussed. To summarize, this work mainly focuses on using RL to automate the suture hand-off task in order to move a step towards solving the greater problem of automating suturing.
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"Computational Modeling and Experimental Characterization of Pneumatically Driven Actuators for the Development of a Soft Robotic Arm." Master's thesis, 2018. http://hdl.handle.net/2286/R.I.49353.

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abstract: Soft Poly-Limb (SPL) is a pneumatically driven, wearable, soft continuum robotic arm designed to aid humans with medical conditions, such as cerebral palsy, paraplegia, cervical spondylotic myelopathy, perform activities of daily living. To support user's tasks, the SPL acts as an additional limb extending from the human body which can be controlled to perform safe and compliant mobile manipulation in three-dimensional space. The SPL is inspired by invertebrate limbs, such as the elephant trunk and the arms of the octopus. In this work, various geometrical and physical parameters of the SPL are identified, and behavior of the actuators that comprise it are studied by varying their parameters through novel quasi-static computational models. As a result, this study provides a set of engineering design rules to create soft actuators for continuum soft robotic arms by understanding how varying parameters affect the actuator's motion as a function of the input pressure. A prototype of the SPL is fabricated to analyze the accuracy of these computational models by performing linear expansion, bending and arbitrary pose tests. Furthermore, combinations of the parameters based on the application of the SPL are determined to affect the weight, payload capacity, and stiffness of the arm. Experimental results demonstrate the accuracy of the proposed computational models and help in understanding the behavior of soft compliant actuators. Finally, based on the set functional requirements for the assistance of impaired users, results show the effectiveness of the SPL in performing tasks for activities of daily living.
Dissertation/Thesis
Masters Thesis Mechanical Engineering 2018
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Books on the topic "Soft Robotic Arm"

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Trimmer, Barry. Soft-bodied terrestrial invertebrates and robots. Oxford University Press, 2018. http://dx.doi.org/10.1093/oso/9780199674923.003.0041.

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Studies of animal locomotion and its control have generally focused on species with articulated, stiff skeletons, largely ignoring the contributions of soft tissues. Attempts to create animal-like performance in robots illustrate the limitations of using rigid-body mechanics alone. There is a growing appreciation that soft structures are critical for producing robust and adaptable behaviors in complex environments. Studies of predominantly soft animals could help to accelerate our understanding of the biomechanical role of deformable materials and their control. This chapter focuses on our current understanding of locomotion in terrestrial soft animals. It highlights the critical distinction between purely hydrostatic systems that control movements by pressurization and those that can remain relatively soft and exploit stiff substrates (the environmental skeleton strategy). The final section describes biomimetic devices that have been inspired by both animal strategies to show how such biological solutions might be employed to build controllable, highly deformable mobile machines.
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Book chapters on the topic "Soft Robotic Arm"

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Amer, Yousef, Harsh Rana, Linh Thi Truc Doan, and Tham Thi Tran. "Designing and Analysis of a Soft Robotic Arm." In Advances in Intelligent Systems and Computing. Springer International Publishing, 2020. http://dx.doi.org/10.1007/978-3-030-62324-1_12.

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Ling, Feng, and Eva Kanso. "Octopus-Inspired Arm Movements." In Bioinspired Sensing, Actuation, and Control in Underwater Soft Robotic Systems. Springer International Publishing, 2020. http://dx.doi.org/10.1007/978-3-030-50476-2_11.

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Shivakumar, Sachin, Daniel M. Aukes, Spring Berman, et al. "Decentralized Estimation and Control of a Soft Robotic Arm." In Bioinspired Sensing, Actuation, and Control in Underwater Soft Robotic Systems. Springer International Publishing, 2020. http://dx.doi.org/10.1007/978-3-030-50476-2_12.

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Ciullo, Andrea S., Manuel G. Catalano, Antonio Bicchi, and Arash Ajoudani. "A Supernumerary Soft Robotic Hand-Arm System for Improving Worker Ergonomics." In Biosystems & Biorobotics. Springer International Publishing, 2018. http://dx.doi.org/10.1007/978-3-030-01887-0_101.

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Mikulski, Michał A., and Tadeusz Szkodny. "Remote Control and Monitoring of AX-12 Robotic Arm Based on Windows Communication Foundation." In Advances in Intelligent and Soft Computing. Springer Berlin Heidelberg, 2011. http://dx.doi.org/10.1007/978-3-642-23169-8_9.

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Stevanović, Ilija, Aleksandar Rodić, Miloš Jovanović, and Marija Tomić. "Building of Hyper-redundant Under-Actuated Soft Robotic Arm with 20 DOF." In Advances in Service and Industrial Robotics. Springer International Publishing, 2017. http://dx.doi.org/10.1007/978-3-319-61276-8_72.

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Hussain, Irfan, Gionata Salvietti, Giovanni Spagnoletti, David Cioncoloni, Simone Rossi, and Domenico Prattichizzo. "A Soft Robotic Extra-Finger and Arm Support to Recover Grasp Capabilities in Chronic Stroke Patients." In Biosystems & Biorobotics. Springer International Publishing, 2016. http://dx.doi.org/10.1007/978-3-319-46532-6_10.

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MacMurtrie, Chico. "Into the Soft Machine." In Robots and Art. Springer Singapore, 2016. http://dx.doi.org/10.1007/978-981-10-0321-9_17.

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Laschi, Cecilia, Barbara Mazzolai, Virgilio Mattoli, Matteo Cianchetti, and Paolo Dario. "Design and Development of a Soft Actuator for a Robot Inspired by the Octopus Arm." In Experimental Robotics. Springer Berlin Heidelberg, 2009. http://dx.doi.org/10.1007/978-3-642-00196-3_4.

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McGee, Wes, Tsz Yan Ng, and Asa Peller. "Hard + Soft: Robotic Needle Felting for Nonwoven Textiles." In Robotic Fabrication in Architecture, Art and Design 2018. Springer International Publishing, 2018. http://dx.doi.org/10.1007/978-3-319-92294-2_15.

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Conference papers on the topic "Soft Robotic Arm"

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Olson, Weston R., and Panagiotis Polygerinos. "Towards a Soft Robotic 3rd Arm for Activities of Daily Living." In 2017 Design of Medical Devices Conference. American Society of Mechanical Engineers, 2017. http://dx.doi.org/10.1115/dmd2017-3323.

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Limb sensorimotor function plays an important role in activities of daily living (ADLs) and quality of life. Spinal cord dysfunctions, such as cervical spondylotic myelopathy (CSM), often affect limb function and limit independence. In this paper, we apply technologies from the emerging field of soft robotics to develop Soft Robotic 3rd Arms (SR3As) that branch out of the body — thus providing an artificial limb that enables effective execution of ADLs for CSM patients and the like. Soft robotics is a fairly recent addition to the field of robotics. Differing from traditional, “hard”, robotics, soft robotics are made of flexible materials such as silicone rather than stiff materials such as metals. One such soft robotic actuator is the fiber-reinforced actuator (FRA). Fabricated utilizing a combination of silicone bladder(s) and inextensible materials, these actuators are able to perform one of various motions through changes of pressure [1]. Supernumerary limbs (3rd arms), in contrast, are extra robotic limbs that can function cooperatively or independently of the user’s own limbs. These differ from exoskeletal robotics, as they are not fixated to the user’s limb to augment strength, but rather are placed elsewhere on the body to assist in tasks that would otherwise require multiple people. Examples of such devices include MIT/Boeing’s supernumerary arms to assist in the assembly of aircraft fuselage [2] or the supernumerary hand Softhand [3]. Combining these two concepts, an articulate SR3A was created (Fig. 1). By replacing traditional actuators with soft actuators, the limb is not only lighter, but it also better replicates the equivalent human limb. In addition to these benefits, the SR3A would also need to be less expensive to fabricate and actuate than an arm using rigid body components. This paper presents the design of a proof-of-concept prototype of a SR3A utilizing soft robotic actuators that could be used to assist individuals with hand impairments perform ADLs.
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Nakajima, Kohei, Tao Li, Rongjie Kang, Emanuele Guglielmino, Darwin G. Caldwell, and Rolf Pfeifer. "Local information transfer in soft robotic arm." In 2012 IEEE International Conference on Robotics and Biomimetics (ROBIO). IEEE, 2012. http://dx.doi.org/10.1109/robio.2012.6491145.

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Kurumaya, S., H. Nabae, G. Endo, and K. Suzumori. "Exoskeleton inflatable robotic arm with thin McKibben muscle." In 2018 IEEE International Conference on Soft Robotics (RoboSoft). IEEE, 2018. http://dx.doi.org/10.1109/robosoft.2018.8404907.

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Oikonomou, Paris, Mehdi Khamassi, and Costas S. Tzafestas. "Periodic movement learning in a soft-robotic arm*." In 2020 IEEE International Conference on Robotics and Automation (ICRA). IEEE, 2020. http://dx.doi.org/10.1109/icra40945.2020.9197035.

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Hofer, Matthias, and Raffaello D'Andrea. "Design, Modeling and Control of a Soft Robotic Arm." In 2018 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS). IEEE, 2018. http://dx.doi.org/10.1109/iros.2018.8594221.

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Alspach, Alexander, Joohyung Kim, and Katsu Yamane. "Design and fabrication of a soft robotic hand and arm system." In 2018 IEEE International Conference on Soft Robotics (RoboSoft). IEEE, 2018. http://dx.doi.org/10.1109/robosoft.2018.8404947.

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Li, Tao, Kohei Nakajima, Matteo Cianchetti, Cecilia Laschi, and Rolf Pfeifer. "Behavior switching using reservoir computing for a soft robotic arm." In 2012 IEEE International Conference on Robotics and Automation (ICRA). IEEE, 2012. http://dx.doi.org/10.1109/icra.2012.6225366.

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Li, Tao, Kohei Nakajima, and Rolf Pfeifer. "Online learning for behavior switching in a soft robotic arm." In 2013 IEEE International Conference on Robotics and Automation (ICRA). IEEE, 2013. http://dx.doi.org/10.1109/icra.2013.6630738.

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Chen, Minghong, Deshan Wang, Jiakang Zou, Lining Sun, Jin Sun, and Guoqing Jin. "A Multi-Module Soft Robotic Arm with Soft End Effector for Minimally Invasive Surgery." In 2019 2nd World Conference on Mechanical Engineering and Intelligent Manufacturing (WCMEIM). IEEE, 2019. http://dx.doi.org/10.1109/wcmeim48965.2019.00097.

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Doroudchi, Azadeh, Roozbeh Khodambashi, Amir Salimi Lafmejani, Daniel M. Aukes, and Spring Berman. "Dynamic Modeling of a Hydrogel-based Continuum Robotic Arm with Experimental Validation." In 2020 3rd IEEE International Conference on Soft Robotics (RoboSoft). IEEE, 2020. http://dx.doi.org/10.1109/robosoft48309.2020.9116012.

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