A Soft, Controllable, High Force Density Linear Brake Utilizing Layer Jamming

Choi, In-Rak; Corson, Nick; Peiros, Lizzie; Hawkes, Elliot W.; Keller, Sean; Follmer, Sean

doi:10.1109/lra.2017.2761938

Cited by 73 publications

(47 citation statements)

References 36 publications

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“…Another potential approach is to modify geometry of the granular‐filled elastic bag, as can be seen in the literature . Layer jamming, a variable stiffness technology that relies on friction between overlapping layers, is a promising technology for future applications due to its low thickness structure, leading to lightweight fingered grippers with variable stiffness.…”

Section: Gripping By Controlled Stiffnessmentioning

confidence: 99%

Soft Robotic Grippers

et al. 2018

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Advances in soft robotics, materials science, and stretchable electronics have enabled rapid progress in soft grippers. Here, a critical overview of soft robotic grippers is presented, covering different material sets, physical principles, and device architectures. Soft gripping can be categorized into three technologies, enabling grasping by: a) actuation, b) controlled stiffness, and c) controlled adhesion. A comprehensive review of each type is presented. Compared to rigid grippers, end-effectors fabricated from flexible and soft components can often grasp or manipulate a larger variety of objects. Such grippers are an example of morphological computation, where control complexity is greatly reduced by material softness and mechanical compliance. Advanced materials and soft components, in particular silicone elastomers, shape memory materials, and active polymers and gels, are increasingly investigated for the design of lighter, simpler, and more universal grippers, using the inherent functionality of the materials. Embedding stretchable distributed sensors in or on soft grippers greatly enhances the ways in which the grippers interact with objects. Challenges for soft grippers include miniaturization, robustness, speed, integration of sensing, and control. Improved materials, processing methods, and sensing play an important role in future research.

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Section: Gripping By Controlled Stiffnessmentioning

confidence: 99%

Soft Robotic Grippers

et al. 2018

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“…Another approach could be related with the morphology of the actuator to increase the controllability by increasing the degrees of freedom in the multi-pocket SPA design seen in Reference [73]. Although usually posing a problem for the control, the friction could be used for better control of energy absorption employing the jamming mechanism as seen in Reference [74].…”

Section: Controllabilitymentioning

confidence: 99%

An Overview of Novel Actuators for Soft Robotics

2018

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In this systematic survey, an overview of non-conventional actuators particularly used in soft-robotics is presented. The review is performed by using well-defined performance criteria with a direction to identify the exemplary and potential applications. In addition to this, initial guidelines to compare the performance and applicability of these novel actuators are provided. The meta-analysis is restricted to five main types of actuators: shape memory alloys (SMAs), fluidic elastomer actuators (FEAs), shape morphing polymers (SMPs), dielectric electro-activated polymers (DEAPs), and magnetic/electro-magnetic actuators (E/MAs). In exploring and comparing the capabilities of these actuators, the focus was on eight different aspects: compliance, topology-geometry, scalability-complexity, energy efficiency, operation range, modality, controllability, and technological readiness level (TRL). The overview presented here provides a state-of-the-art summary of the advancements and can help researchers to select the most convenient soft actuators using the comprehensive comparison of the suggested quantitative and qualitative criteria.

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“…[27] The general limitations of fluidic accessories for fluidic soft robotic components are also valid for the proposed clutch. Textile pockets and elastic bands function together as linear guiding system, and strongly contribute to obtain a cyclic reliable elongation and recovering.…”

Section: Resultsmentioning

confidence: 94%

“…[17] Replacing conventional electromagnetic clutches with custom designs tailored for wearable applications has helped in reducing size and weight of these components for unpowered exoskeletons. [22][23][24][25][26][27] However, several limitations are still present, such as the achieved blocking forces, the elongation ratio, and the low response time in the case of variable stiffness technologies. [14,[18][19][20] Electrostatic clutches, developed by flexible materials such as a polyethylene terephthalate film, demonstrate to be a promising soft robotics technology for the application in an unpowered ankle foot orthosis.…”

Section: Introductionmentioning

confidence: 99%

A Wearable Sensory Textile‐Based Clutch with High Blocking Force

et al. 2019

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A sensory textile-based clutch (STBC) activated by vacuum is presented. The STBC is an assembly of two inextensible webbings equipped with 2.3 mm wide rigid bumps fabricated directly on them by a hot embossing technique, and two elastic bands, all air sealed by a silicone elastomer cover. While, in passive mode, the clutch provides low resistance to elongation, upon vacuum, the specular rigid bumps interlock and provide a high withstanding force. The embedded capacitive-based transducer allows encoding the clutch's elongation, with a position resolution reaching 1.15 mm, owing to a real-time processing algorithm. The STBC (140 mm Â 30 mm Â 8 mm) sustains up to 419 N force with an activation pressure of À0.5 atm. The small size of the rigid components and a priming strategy (keeping the pressure at À0.01 atm in disengaged mode) enable response times down to 14 ms for a 115 N blocking force. A preliminary demonstration of a fully worn device shows the potential of the STBC approach for enabling the control of the engagement and disengagement of blocking forces, as well as monitoring of typical parameters of human movement such as knee bending angles, for future developments of light and efficient unpowered exoskeletons.

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A Soft, Controllable, High Force Density Linear Brake Utilizing Layer Jamming

Cited by 73 publications

References 36 publications

Soft Robotic Grippers

Soft Robotic Grippers

An Overview of Novel Actuators for Soft Robotics

A Wearable Sensory Textile‐Based Clutch with High Blocking Force

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