A smart hydraulic joint for future implementation in robotic structures

Berring, John; Kianfar, Kaveh; Lira, Cristian; Menon, Carlo; Scarpa, Fabrizio

doi:10.1017/s0263574709990907

Cited by 23 publications

(21 citation statements)

References 34 publications

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“…The hydraulic mechanism may hinder joint extension at very high stride frequencies, suggesting an upper limit to how fast they can extend their legs using hydraulics and perform essential cyclic activities like running or prey capture. In addition to spider ecology, the design of multi-legged walking machines has incorporated biologically inspired hydraulically extended joints (Menon and Lira, 2006;Berring et al, 2010). The advantages of minimizing space and lowering leg mass of hydraulically extended joints in a leg system may be offset by the potential disadvantage of reduced control at faster stride frequencies.…”

Section: Discussionmentioning

confidence: 99%

Effect of temperature on leg kinematics in sprinting tarantulas (Aphonopelma hentzi): high speed may limit hydraulic joint actuation

Booster

Adolph

et al. 2015

Journal of Experimental Biology

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Tarantulas extend the femur-patella ( proximal) and tibia-metatarsal (distal) joints of their legs hydraulically. Because these two hydraulically actuated joints are positioned in series, hemolymph flow within each leg is expected to mechanically couple the movement of the joints. In the current study, we tested two hypotheses: (1) at lower temperatures, movement of the two in-series hydraulic joints within a leg will be less coupled because of increased hemolymph viscosity slowing hemolymph flow; and (2) at higher temperatures, movement of the two in-series hydraulic joints will be less coupled because the higher stride frequencies limit the time available for hemolymph flow. We elicited maximal running speeds at four ecologically relevant temperatures (15, 24, 31 and 40°C) in Texas Brown tarantulas (Aphonopelma hentzi). The spiders increased sprint speed 2.5-fold over the temperature range by changing their stride frequency but not stride length. The coefficient of determination for linear regression (R 2 ) of the proximal and distal joint angles was used as the measure of the degree of coupling between the two joints. This coupling coefficient between the proximal and distal joint angles, for both forelegs and hindlegs, was significantly lowest at the highest temperature at which the animals ran the fastest with the highest stride frequencies. The coordination of multiple, in-series hydraulically actuated joints may be limited by operating speed.

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Section: Discussionmentioning

confidence: 99%

Effect of temperature on leg kinematics in sprinting tarantulas (Aphonopelma hentzi): high speed may limit hydraulic joint actuation

Booster

Adolph

et al. 2015

Journal of Experimental Biology

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“…Control Systems over the years have evolved, and now the standard for soft robotics is using pneumatic systems to move the structure of the robot, although some hydraulic systems [42][43][44] are used. In order to control pneumatic and hydraulic systems, either an open or closed loop must be implemented [16,[45][46][47][48][49].…”

Section: Control Systemsmentioning

confidence: 99%

Soft Robotics: A Review of Recent Developments of Pneumatic Soft Actuators

et al. 2020

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This paper focuses on the recent development of soft pneumatic actuators for soft robotics over the past few years, concentrating on the following four categories: control systems, material and construction, modeling, and sensors. This review work seeks to provide an accelerated entrance to new researchers in the field to encourage research and innovation. Advances in methods to accurately model soft robotic actuators have been researched, optimizing and making numerous soft robotic designs applicable to medical, manufacturing, and electronics applications. Multi-material 3D printed and fiber optic soft pneumatic actuators have been developed, which will allow for more accurate positioning and tactile feedback for soft robotic systems. Also, a variety of research teams have made improvements to soft robot control systems to utilize soft pneumatic actuators to allow for operations to move more effectively. This review work provides an accessible repository of recent information and comparisons between similar works. Future issues facing soft robotic actuators include portable and flexible power supplies, circuit boards, and drive components.

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“…as a route to cooperative robotics-these include hydraulic or pneumatic joints that use expansion, contraction (e.g., McKibbon actuator), or bending for actuation. 1,10,11 While these actuators fulfill the characteristic of inherent compliance, most of these involve complex assemblies intended for use in rugged, industrial robots that are heavy and expensive. For more delicate applications, Lu et.…”

Section: Many Types Of Flexible and Inflatable Joints And Muscles Havmentioning

confidence: 99%

Arthrobots

et al. 2017

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This article describes a class of robots-"arthrobots"-inspired, in part, by the musculoskeletal system of arthropods (spiders and insects, inter alia). Arthrobots combine mechanical compliance, lightweight and simple construction, and inexpensive yet scalable design. An exoskeleton, constructed from thin organic polymeric tubes, provides lightweight structural support. Pneumatic joints modeled after the hydrostatic joints of spiders provide actuation and inherent mechanical compliance to external forces. An inflatable elastomeric tube (a "balloon") enables active extension of a limb; an opposing elastic tendon enables passive retraction. A variety of robots constructed from these structural elements demonstrate (i) crawling with one or two limbs, (ii) walking with four or six limbs (including an insect-like triangular gait), (iii) walking with eight limbs, or (iv) floating and rowing on the surface of water. Arthrobots are simple to fabricate and are able to operate safely in contact with humans.

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A smart hydraulic joint for future implementation in robotic structures

Cited by 23 publications

References 34 publications

Effect of temperature on leg kinematics in sprinting tarantulas (Aphonopelma hentzi): high speed may limit hydraulic joint actuation

Effect of temperature on leg kinematics in sprinting tarantulas (Aphonopelma hentzi): high speed may limit hydraulic joint actuation

Soft Robotics: A Review of Recent Developments of Pneumatic Soft Actuators

Arthrobots

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