A Grasping Component Mapping Approach for Soft Robotic End-Effector Control

Zhou, Jianshu; Chen, Xiaojiao; Chang, Ukyoung; Liu, Yunhui; Chen, Yonghua; Wang, Zheng

doi:10.1109/robosoft.2019.8722773

Cited by 18 publications

(9 citation statements)

References 27 publications

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“…The principle of the control for the SR brace is shown in Figure 5B, which was well documented in Zhou et al (2019). A cascaded control structure was adopted, with a motion-control outer loop and multichannel pressure-control inner loops for each SOA.…”

Section: Actuation and Controlmentioning

confidence: 99%

A Compact Soft Robotic Wrist Brace With Origami Actuators

et al. 2021

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Wrist disability caused by a series of diseases or injuries hinders the patient’s capability to perform activities of daily living (ADL). Rehabilitation devices for the wrist motor function have gained popularity among clinics and researchers due to the convenience of self-rehabilitation. The inherent compliance of soft robots enabled safe human-robot interaction and light-weight characteristics, providing new possibilities to develop wearable devices. Compared with the conventional apparatus, soft robotic wearable rehabilitation devices showed advantages in flexibility, cost, and comfort. In this work, a compact and low-profile soft robotic wrist brace was proposed by directly integrating eight soft origami-patterned actuators on the commercially available wrist brace. The linear motion of the actuators was defined by their origami pattern. The extensions of the actuators were constrained by the brace fabrics, deriving the motions of the wrist joint, i.e., extension/flexion, ulnar/radial deviation. The soft actuators were made of ethylene-vinyl acetate by blow molding, achieving mass-production capability, low cost, and high repeatability. The design and fabrication of the soft robotic wrist brace are presented in this work. The experiments on the range of motion, output force, wearing position adaptivity, and performance under disturbance have been carried out with results analyzed. The modular soft actuator approach of design and fabrication of the soft robotic wrist brace has a wide application potential in wearable devices.

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Section: Actuation and Controlmentioning

confidence: 99%

A Compact Soft Robotic Wrist Brace With Origami Actuators

et al. 2021

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“…Previous works that derived a latent representation for grasping poses in [ 20 , 21 , 27 , 28 ], showed that the joints angles in the hand are not independently controlled. Also, the grasping poses can be represented in a low-dimensional synergy space.…”

Section: Methodsmentioning

confidence: 99%

Object Manipulation with an Anthropomorphic Robotic Hand via Deep Reinforcement Learning with a Synergy Space of Natural Hand Poses

Rivera

Añazco

Kim

2021

Sensors

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Anthropomorphic robotic hands are designed to attain dexterous movements and flexibility much like human hands. Achieving human-like object manipulation remains a challenge especially due to the control complexity of the anthropomorphic robotic hand with a high degree of freedom. In this work, we propose a deep reinforcement learning (DRL) to train a policy using a synergy space for generating natural grasping and relocation of variously shaped objects using an anthropomorphic robotic hand. A synergy space is created using a continuous normalizing flow network with point clouds of haptic areas, representing natural hand poses obtained from human grasping demonstrations. The DRL policy accesses the synergistic representation and derives natural hand poses through a deep regressor for object grasping and relocation tasks. Our proposed synergy-based DRL achieves an average success rate of 88.38% for the object manipulation tasks, while the standard DRL without synergy space only achieves 50.66%. Qualitative results show the proposed synergy-based DRL policy produces human-like finger placements over the surface of each object including apple, banana, flashlight, camera, lightbulb, and hammer.

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“…4 (c) and (d) . The grasping force can be adjusted and controlled by the magnitude of the applied positive pressure [30] , [31] . The hybrid soft gripper provides merits of lightweight, easy control, high compliance and robustness for swab grasping and releasing.…”

Section: Overall Tele-operated Oropharyngeal Swab (Toos) Robot Designmentioning

confidence: 99%

“…The length of centerline \documentclass[12pt]{minimal} \usepackage{amsmath} \usepackage{wasysym} \usepackage{amsfonts} \usepackage{amssymb} \usepackage{amsbsy} \usepackage{upgreek} \usepackage{mathrsfs} \setlength{\oddsidemargin}{-69pt} \begin{document} }{}$l$ \end{document} is the average length of the three driven cables. The curvature and place can be calculated by the trigonometric relationship [30] , [31] . Then, the configuration space parameter \documentclass[12pt]{minimal} \usepackage{amsmath} \usepackage{wasysym} \usepackage{amsfonts} \usepackage{amssymb} \usepackage{amsbsy} \usepackage{upgreek} \usepackage{mathrsfs} \setlength{\oddsidemargin}{-69pt} \begin{document} }{}$\mathbf {q} = (\alpha, \beta, l) \in \{\mathbf {q}\}$ \end{document} can be expressed by the actuator space parameter \documentclass[12pt]{minimal} \usepackage{amsmath} \usepackage{wasysym} \usepackage{amsfonts} \usepackage{amssymb} \usepackage{amsbsy} \usepackage{upgreek} \usepackage{mathrsfs} \setlength{\oddsidemargin}{-69pt} \begin{document} }{}$\mathbf {a} = (l_{1}, l_{2}, l_{3}) \in \{\mathbf {a}\}$ \end{document} as: \documentclass[12pt]{minimal} \usepackage{amsmath} \usepackage{wasysym} \usepackage{amsfonts} \usepackage{amssymb} \usepackage{amsbsy} \usepackage{upgreek} \usepackage{mathrsfs} \setlength{\oddsidemargin}{-69pt} \begin{document} }{}\begin{align*} \alpha=&\tan ^{-1}\left ({\frac {l_{1} + l_{3} - 2l_{2}}{\sqrt {3}\left ({l_{1} - l_{3}}\right)}}\right) \\ \beta=&\frac {\sqrt {l_{1}^{2} + l_{2}^{2} + l_{3}^ {2} - l_{1}l_{2} - l_{1}l_{3}-l_{2}l_{3}}}{d\left ({l_{1} + l_{2} + l_{3}}\right)} \\ l=&\frac {l_{1} + l_{2} + l_{3}}{3}\tag{1}\end{align*} \end{document} …”

Section: Tss Hand Modelingmentioning

confidence: 99%

Tele-Operated Oropharyngeal Swab (TOOS) Robot Enabled by TSS Soft Hand for Safe and Effective Sampling

Chen

Zhou

Cheng

et al. 2021

IEEE Trans. Med. Robot. Bionics

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The COVID-19 pandemic has imposed serious challenges in multiple perspectives of human life. To diagnose COVID-19, oropharyngeal swab (OP SWAB) sampling is generally applied for viral nucleic acid (VNA) specimen collection. However, manual sampling exposes medical staff to a high risk of infection. Robotic sampling is promising to mitigate this risk to the minimum level, but traditional robot suffers from safety, cost, and control complexity issues for wide-scale deployment. In this work, we present soft robotic technology is promising to achieve robotic OP swab sampling with excellent swab manipulability in a confined oral space and works as dexterous as existing manual approach. This is enabled by a novel Tstone soft (TSS) hand, consisting of a soft wrist and a soft gripper, designed from human sampling observation and bio-inspiration. TSS hand is in a compact size, exerts larger workspace, and achieves comparable dexterity compared to human hand. The soft wrist is capable of agile omnidirectional bending with adjustable stiffness. The terminal soft gripper is effective for disposable swab pinch and replacement. The OP sampling force is easy to be maintained in a safe and comfortable range (throat sampling comfortable region) under a hybrid motion and stiffness virtual fixture-based controller. A dedicated 3 DOFs RCM platform is used for TSS hand global positioning. Design, modeling, and control of the TSS hand are discussed in detail with dedicated experimental validations. A sampling test based on human tele-operation is processed on the oral cavity model with excellent success rate. The proposed TOOS robot demonstrates a highly promising solution for tele-operated, safe, cost-effective, and quick deployable COVID-19 OP swab sampling.

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A Grasping Component Mapping Approach for Soft Robotic End-Effector Control

Cited by 18 publications

References 27 publications

A Compact Soft Robotic Wrist Brace With Origami Actuators

A Compact Soft Robotic Wrist Brace With Origami Actuators

Object Manipulation with an Anthropomorphic Robotic Hand via Deep Reinforcement Learning with a Synergy Space of Natural Hand Poses

Tele-Operated Oropharyngeal Swab (TOOS) Robot Enabled by TSS Soft Hand for Safe and Effective Sampling

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