A low-friction passive fluid transmission and fluid-tendon soft actuator

Whitney, John P.; Glisson, Matthew; Brockmeyer, Eric; Hodgins, Jessica K.

doi:10.1109/iros.2014.6942946

Cited by 78 publications

(52 citation statements)

References 8 publications

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“…Nevertheless, the developed RAS is both more lightweight and smaller than a PAM-based solution with similar mechanical characteristics. An alternative hydraulic-based approach to transmit high mechanical power was presented in [15] and similar mechanisms are used in exoskeletons [36] and prostheses [37]. While the cylinders presented in [15] have similar mechanical performance, they are significantly heavier and bulkier than the developed RAS.…”

Section: %)mentioning

confidence: 99%

“…An alternative hydraulic-based approach to transmit high mechanical power was presented in [15] and similar mechanisms are used in exoskeletons [36] and prostheses [37]. While the cylinders presented in [15] have similar mechanical performance, they are significantly heavier and bulkier than the developed RAS. With a MAPE below 5 % independent of the bending angle, the accuracy of the force control is comparable to state-of-the-art actuation systems used in wearable robotics [36], [38].…”

Section: %)mentioning

confidence: 99%

“…Furthermore, the trade-off for compliance is nonlinear control and a small achievable bandwidth [14]. Hydraulic RAS offer high power density at both the actuation unit and the output, and thanks to quasi-incompressible media, high bandwidths can be achieved [15]. However, hydraulic cylinders are affected by nonlinear friction, which makes control difficult and decreases efficiency [16].…”

Section: Introductionmentioning

confidence: 99%

See 2 more Smart Citations

Design and Evaluation of a Bowden-Cable-Based Remote Actuation System for Wearable Robotics

Hofmann

Bützer

Lambercy

et al. 2018

IEEE Robot. Autom. Lett.

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Section: %)mentioning

confidence: 99%

Section: %)mentioning

confidence: 99%

Section: Introductionmentioning

confidence: 99%

See 1 more Smart Citation

Design and Evaluation of a Bowden-Cable-Based Remote Actuation System for Wearable Robotics

Hofmann

Bützer

Lambercy

et al. 2018

IEEE Robot. Autom. Lett.

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“…The amount of allowable heat generation will vary according to the dimensions of the specific cylinder, but the interior surface temperature of the bore should not exceed 100 degrees Fahrenheit, otherwise plastic deformation of the cylinder could occur, possibly allowing the cylinder to deform to the extent that leakage past the piston seal may occur, rendering the pneumatic cylinder inoperable. Another idea to reduce heating is to use a rolling diaphragm to seal the pneumatic cylinder, and this is advantageous because rolling friction produces less heat than sliding friction due to the lower contact area in rolling movements [16].…”

Section: Discussionmentioning

confidence: 99%

A 3D Printed Linear Pneumatic Actuator for Position, Force and Impedance Control

Krause

Bhounsule

2018

Actuators

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Although 3D printing has the potential to provide greater customization and to reduce the costs of creating actuators for industrial applications, the 3D printing of actuators is still a relatively new concept. We have developed a pneumatic actuator with 3D-printed parts and placed sensors for position and force control. So far, 3D printing has been used to create pneumatic actuators of the bellows type, thus having a limited travel distance, utilizing low pressures for actuation and being capable of only limited force production and response rates. In contrast, our actuator is linear with a large travel distance and operating at a relatively higher pressure, thus providing great forces and response rates, and this the main novelty of the work. We demonstrate solutions to key challenges that arise during the design and fabrication of 3D-printed linear actuators. These include: (1) the strategic use of metallic parts in high stress areas (i.e., the piston rod); (2) post-processing of the inner surface of the cylinder for smooth finish; (3) piston head design and seal placement for strong and leak-proof action; and (4) sensor choice and placement for position and force control. A permanent magnet placed in the piston head is detected using Hall effect sensors placed along the length of the cylinder to measure the position, and pressure sensors placed at the supply ports were used for force measurement. We demonstrate the actuator performing position, force and impedance control. Our work has the potential to open new avenues for creating less expensive, customizable and capable actuators for industrial and other applications.

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“…To achieve efficient transmission, rolling diaphragms [12] are employed to seal every master and slave actuation units (Fig. 2).…”

Section: A Master-slave Hydraulic Actuation Unitsmentioning

confidence: 99%

MR Safe Robotic Manipulator for MRI-Guided Intracardiac Catheterization

Lee

Zhang

et al. 2018

IEEE/ASME Trans. Mechatron.

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Abstract-This article introduces a robotic manipulator to realize robot-assisted intra-cardiac catheterization in magnetic resonance imaging (MRI) environment. MRI can offer highresolution images to visualize soft tissue features such as scars or edema. We hypothesize that robotic catheterization, combined with the enhanced monitoring of lesions creation using MRI intraoperatively, will significantly improve the procedural safety, accuracy and effectiveness. This is designed particularly for cardiac electrophysiological (EP) intervention, which is an effective treatment of arrhythmia. We present the first MR Safe robot for intra-cardiac EP intervention. The robot actuation features small hysteresis, effective force transmission and quick response, which has been experimentally verified for its capability to precisely tele-manipulate a standard clinically used EP catheter. We also present timely techniques for real-time positional tracking in MRI and intra-operative image registration, which can be integrated with the presented manipulator to improve the performance of tele-operated robotic catheterization.Index Terms-MR Safe robot, robot-assisted intervention, MR image registration, positional tracking in MRI.

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A low-friction passive fluid transmission and fluid-tendon soft actuator

Cited by 78 publications

References 8 publications

Design and Evaluation of a Bowden-Cable-Based Remote Actuation System for Wearable Robotics

Design and Evaluation of a Bowden-Cable-Based Remote Actuation System for Wearable Robotics

A 3D Printed Linear Pneumatic Actuator for Position, Force and Impedance Control

MR Safe Robotic Manipulator for MRI-Guided Intracardiac Catheterization

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