A Multi-Material, Anthropomorphic Metacarpophalangeal Joint With Abduction and Adduction Actuated by Soft Artificial Muscles

Gollob, Samuel Dutra; Poss, Jonhenry; Memoli, Garrett; Roche, Ellen T.

doi:10.1109/lra.2022.3161714

Cited by 5 publications

(3 citation statements)

References 21 publications

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“…163 Alternatively, mimicking the human hand's biomechanic structures to develop bioinspired hybrid systems that combine soft and rigid components is promising. This approach may combine multiple merits of different materials, such as designing soft-rigid structures to reach variable stiffness, 164,165 rapid response, 166 accurately dexterous movement, 167 and continuously variable transmission 168 of fingers. Such soft-rigid hybrid hand systems generally cannot be well-fabricated by current rigid-material-based manufacturing methods due to the use of soft materials.…”

Section: Discussionmentioning

confidence: 99%

Soft Robotics Enables Neuroprosthetic Hand Design

Zhang

Chen

et al. 2023

ACS Nano

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Development and implementation of neuroprosthetic hands is a multidisciplinary field at the interface between humans and artificial robotic systems, which aims at replacing the sensorimotor function of the upper-limb amputees as their own. Although prosthetic hand devices with myoelectric control can be dated back to more than 70 years ago, their applications with anthropomorphic robotic mechanisms and sensory feedback functions are still at a relatively preliminary and laboratory stage. Nevertheless, a recent series of proof-of-concept studies suggest that soft robotics technology may be promising and useful in alleviating the design complexity of the dexterous mechanism and integration difficulty of multifunctional artificial skins, in particular, in the context of personalized applications. Here, we review the evolution of neuroprosthetic hands with the emerging and cutting-edge soft robotics, covering the soft and anthropomorphic prosthetic hand design and relating bidirectional neural interactions with myoelectric control and sensory feedback. We further discuss future opportunities on revolutionized mechanisms, high-performance soft sensors, and compliant neural-interaction interfaces for the next generation of neuroprosthetic hands.

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Section: Discussionmentioning

confidence: 99%

Soft Robotics Enables Neuroprosthetic Hand Design

Zhang

Chen

et al. 2023

ACS Nano

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“…The grasping trial is considered a success if the target is grabbed and successfully lifted. The supplied pressures are static [24] Soft continuum Pneumatic artificial muscle Passive None None Gu et al, 2021 [25] Soft continuum Pneumatic artificial muscle Passive None None Zhou et al, 2021 [20] Soft continuum Pneumatic artificial muscle Active None None Bicchi et al, 2014 [18] Flexible joint Cable and motor Passive None None Dollar et al, 2010 [17] Flexible joint Cable and motor Passive None None Xu et al, 2016 [48] Anthropomorphic joint Cable and motor Passive Unverified None Gollob et al, 2022 [49] Anthropomorphic joint Pneumatic artificial muscle Active Unverified None Chen et al, 2016 [32] Soft continuum Pneumatic artificial muscle Passive Non-autonomous (jamming)…”

Section: Grasp Experimentsmentioning

confidence: 99%

A Biomimetic Soft‐Rigid Hybrid Finger with Autonomous Lateral Stiffness Enhancement

Zhou

Zhang

2022

Advanced Intelligent Systems

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The application of soft robotics improves the compliance of robotic fingers, which, however, usually loses sufficient stiffness. Here, a biomimetic soft‐rigid hybrid (BSH) finger that can achieve both inherent compliance and autonomous lateral stiffness enhancement is proposed. Driven by pneumatic artificial muscles, the proposed two‐joined BSH finger can produce two flexion degrees of freedom (DOFs) and one lateral DOF motion. Imitating the human finger anatomy, the BSH finger is designed with elliptical bony ridges and eccentrically arranged ligaments. By leveraging the contact interference of the ridges and tensioning of the ligaments, the lateral stiffness of the BSH finger can be autonomously enhanced through finger flexion. During its natural stage, the lateral stiffness is relatively low to ensure mobility and compliance, while in its flexion stage, its lateral stiffness can increase to resist lateral deflection and high payload. To further investigate the advantages of the design, four BSH fingers are assembled into a robotic hand prototype with three grasping types including enveloping grasp, precise pinch, and power grasp. Experimental results demonstrate that the robotic hand prototype is capable of grasping various objects with a wide range of diameters, lengths, thicknesses, and weights, which will verify the effectiveness of the design methodology.

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“…McKibben actuators are of particular interest in bioinspired robotics and prosthetics because of their functional similarity to biological muscle in terms of contracting in response to activation and introducing compliance into the system. As a consequence, they can serve as first-order hardware models of skeletal muscle [4], [14]- [16]. Current experimental characterizations and models of these actuators tend to focus on their quasistatic properties, relating their inflation pressure, length, and axial force [3], [17]- [20], but less attention has been given to their dynamics properties.…”

Section: Introductionmentioning

confidence: 99%

Design and Characterization of Viscoelastic McKibben Actuators with Tunable Force-Velocity Curves

J.¹,

Wang²,

Jiaguo³

et al. 2023

Preprint

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The McKibben pneumatic artificial muscle is a commonly studied soft robotic actuator, and its quasistatic force-length properties have been well characterized and modeled. However, its damping and force-velocity properties are less well studied. Understanding these properties will allow for more robust dynamic modeling of soft robotic systems. The force-velocity response of these actuators is of particular interest because these actuators are often used as hardware models of skeletal muscles for bioinspired robots, and this force-velocity relationship is fundamental to muscle physiology. In this work, we investigated the force-velocity response of McKibben actuators and the ability to tune this response through the use of viscoelastic polymer sheaths. These viscoelastic McKibben actuators (VMAs) were characterized using iso-velocity experiments inspired by skeletal muscle physiology tests. A simplified 1D model of the actuators was developed to connect the shape of the force-velocity curve to the material parameters of the actuator and sheaths. Using these viscoelastic materials, we were able to modulate the shape and magnitude of the actuators' force-velocity curves, and using the developed model, these changes were connected back to the material properties of the sheaths.

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A Multi-Material, Anthropomorphic Metacarpophalangeal Joint With Abduction and Adduction Actuated by Soft Artificial Muscles

Cited by 5 publications

References 21 publications

Soft Robotics Enables Neuroprosthetic Hand Design

Soft Robotics Enables Neuroprosthetic Hand Design

A Biomimetic Soft‐Rigid Hybrid Finger with Autonomous Lateral Stiffness Enhancement

Design and Characterization of Viscoelastic McKibben Actuators with Tunable Force-Velocity Curves

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