A Novel Variable Stiffness Soft Robotic Gripper

Arachchige, Dimuthu D. K.; Chen, Yue; Walker, Ian D.; Godage, Isuru S.

doi:10.1109/case49439.2021.9551616

Cited by 20 publications

(5 citation statements)

References 23 publications

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“…The continuum sections used in this work are pneumatically driven continuum sections comprised of three extending McKibben muscles and a fixed-length backbone constructed of universal joints. These muscles were selected to be identical to those designed for and reported in [41] due to their mechanical properties satisfying our design requirements. This choice simplified systems integration and control, at the cost of reduced grasp strength (physical restrictions on input pressure) compared to the construction of sections specifically dedicated to the Claw.…”

Section: Mechanical Design and Assemblymentioning

confidence: 99%

The Claw: An Avian-Inspired, Large Scale, Hybrid Rigid-Continuum Gripper

Stokes,

Mohrmann,

Frazelle

et al. 2024

Robotics

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Most robotic hands have been created at roughly the scale of the human hand, with rigid components forming the core structural elements of the fingers. This focus on the human hand has concentrated attention on operations within the human hand scale, and on the handling of objects suitable for grasping with current robot hands. In this paper, we describe the design, development, and testing of a four-fingered gripper which features a novel combination of actively actuated rigid and compliant elements. The scale of the gripper is unusually large compared to most existing robot hands. The overall goal for the hand is to explore compliant grasping of potentially fragile objects of a size not typically considered. The arrangement of the digits is inspired by the feet of birds, specifically raptors. We detail the motivation for this physical hand structure, its design and operation, and describe testing conducted to assess its capabilities. The results demonstrate the effectiveness of the hand in grasping delicate objects of relatively large size and highlight some limitations of the underlying rigid/compliant hybrid design.

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Section: Mechanical Design and Assemblymentioning

confidence: 99%

The Claw: An Avian-Inspired, Large Scale, Hybrid Rigid-Continuum Gripper

Stokes,

Mohrmann,

Frazelle

et al. 2024

Robotics

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“…2C [21]. The rigid backbone, made of a commercially available cable carrier with a protective outer shell, constrains the length of the soft module, resulting in antagonistic operation of the PMAs that facilitates finer stiffness control over a wider range [22]. The soft module has an effective length, diameter, and weight of 240 mm, 40 mm, and 0.15 kg, respectively [19].…”

Section: Prototype Descriptionmentioning

confidence: 99%

Teleoperation of Soft Modular Robots: Study on Real-time Stability and Gait Control

Perera¹,

Arachchige²,

Mallikarachchi³

et al. 2023

Preprint

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Soft robotics holds tremendous potential for various applications, especially in unstructured environments such as search and rescue operations. However, the lack of autonomy and teleoperability, limited capabilities, absence of gait diversity and real-time control, and onboard sensors to sense the surroundings are some of the common issues with soft-limbed robots. To overcome these limitations, we propose a spatially symmetric, topologically-stable, soft-limbed tetrahedral robot that can perform multiple locomotion gaits. We introduce a kinematic model, derive locomotion trajectories for different gaits, and design a teleoperation mechanism to enable realtime human-robot collaboration. We use the kinematic model to map teleoperation inputs and ensure smooth transitions between gaits. Additionally, we leverage the passive compliance and natural stability of the robot for toppling and obstacle navigation. Through experimental tests, we demonstrate the robot's ability to tackle various locomotion challenges, adapt to different situations, and navigate obstructed environments via teleoperation.

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“…Each soft module measures 240 mm in length, 40 mm in diameter, and can bend 180 • in any direction. Because the soft modules combine both soft (active) and stiff (passive) elements in their construction, they allow for decoupled stiffness-shape control and enhanced structural integrity without degrading smooth, compliant, and continuous deformation -an essential prerequisite for achieving the proposed legged locomotion [36].…”

Section: System Model a Prototype Descriptionmentioning

confidence: 99%

Soft Steps: Exploring Quadrupedal Locomotion With Modular Soft Robots

et al. 2023

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Soft robots have emerged as a novel approach to legged locomotion, demonstrating strong potential for navigating unstructured terrains. The omnidirectional bending capability of soft robotic limbs allows for a diverse range of locomotion gaits to be supported. Nevertheless, the development of highdimensional soft robots capable of performing complex locomotion gaits presents a significant challenge due to their intricate design and operation. To address this challenge, our research team proposes a modular method for constructing a soft quadruped that streamlines the robot-building process and improves its reliability. By formulating a complete floating-base kinematic model and deriving parameterized trajectories for straight and turning locomotion, we offer a comprehensive solution to the development of soft quadrupedal locomotion. We also derive gait models to predict locomotion effectiveness, enabling us to study the quadruped's locomotion gaits under different parameters. Experimental results show that the derived gait models accurately predict the effectiveness of the robot's locomotion. This modular approach provides a promising solution to the challenge of building high-dimensional soft robots capable of complex locomotion gaits and offers exciting possibilities for future research.

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A Novel Variable Stiffness Soft Robotic Gripper

Cited by 20 publications

References 23 publications

The Claw: An Avian-Inspired, Large Scale, Hybrid Rigid-Continuum Gripper

The Claw: An Avian-Inspired, Large Scale, Hybrid Rigid-Continuum Gripper

Teleoperation of Soft Modular Robots: Study on Real-time Stability and Gait Control

Soft Steps: Exploring Quadrupedal Locomotion With Modular Soft Robots

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