A Soft Gripper with Rigidity Tunable Elastomer Strips as Ligaments

Nasab, Amir Mohammadi; Sabzehzar, Amin; Tatari, Milad; Majidi, Carmel; Shan, Wanliang

doi:10.1089/soro.2016.0039

Cited by 90 publications

(50 citation statements)

References 33 publications

Supporting

Mentioning

Contrasting

Order By: Relevance

“…While an important class of these materials involves polymers, many inorganic materials also fall in this category. They include water, ionic solutions, and eutectic metal alloys—metal conductors that are liquid at low temperatures …”

Section: Emerging Materials For Haptic Devicesmentioning

confidence: 99%

See 1 more Smart Citation

Emerging Material Technologies for Haptics

Biswas

Visell

2019

Adv Materials Technologies

101

View full text Add to dashboard Cite

The sense of touch is involved in nearly all human activities, but information technologies for displaying tactile sensory information to the skin are rudimentary when compared to state‐of‐the‐art video and audio displays, or to tactile perceptual capabilities. Realizing tactile displays with good perceptual fidelity will require major advances in engineering, design, and fabrication. Research over several decades has highlighted the difficulties of meeting the required performance benchmarks using conventional devices, processes, and techniques. This has highlighted the important role that will be played by new material technologies that can bridge the electronic and mechanical domains. This must occur at the smallest scales, because of the great perceptual spatial and temporal acuity of the sense of touch. The requirements involved also furnish valuable performance benchmarks against which many emerging material technologies are being evaluated. This article highlights recent research and possibilities enabled through new material technologies, ranging from organic electronic materials, to carbon nanomaterials, and a variety of composites. Emerging material technologies are surveyed for the sense of touch, including sensory considerations and requirements, materials, actuation principles, and design and fabrication methods. A conclusion reflects on the main open challenges and future prospects for research in this area.

show abstract

Section: Emerging Materials For Haptic Devicesmentioning

confidence: 99%

“…There are many other examples of soft actuators based on hydraulic actuation principles. These have found applications on soft grippers, soft robotics, artificial muscles, and training, among others. However, relatively fewer soft haptic actuators have been developed based on such principles .…”

Section: Physical Principles Of Actuation Via Emerging Materialsmentioning

confidence: 99%

Emerging Material Technologies for Haptics

Biswas

Visell

2019

Adv Materials Technologies

101

View full text Add to dashboard Cite

show abstract

“…Relatedly, fitting the manipulator with a capable gripper would improve performance. A variety of suitable soft grippers which could be integrated with a continuum manipulator have been described in the literature [27,[35][36][37][38][39][40][41].…”

Section: Limitations and Future Researchmentioning

confidence: 99%

Design and Preliminary Testing of a Continuum Assistive Robotic Manipulator

et al. 2019

View full text Add to dashboard Cite

Background: The application of continuum manipulators as assistive robots is discussed and tested through the use of Bendy ARM, a simple manually teleoperated tendon driven continuum manipulator prototype. Methods: Two rounds of user testing were performed to evaluate the potential of this arm to aid people living with disabilities in completing activities of daily living. Results: In the first round of user testing, 14 able-bodied subjects successfully completed the prescribed task (pick-and-place) using multiple control schemes after being given a brief introduction and one minute of practice with each scheme. In the second round of user testing, subjects ( n = 3 ) demonstrated between 29.5 and 48.9 percent improvement in completion time across twelve trials of a peg-in-hole task, and between 8.4 and 33.8 percent improvement across six trials of a task involving opening and closing a drawer. Conclusion: Based on these results, it is posited that continuum manipulators merit further consideration as a safer and more cost-effective alternative to existing commercially available assistive robotic manipulators.

show abstract

“…Recent emphasis on untethered systems requires light, compact, and energy‐efficient deformation sensors . Additionally, implementation into wearable sensors for human monitoring and soft robotic systems demand significant extents of deformation . Furthermore, wireless monitoring in these systems can reduce system complexity by eliminating or reducing wiring components and can enable more compliant materials by removing semirigid wiring and connection points .…”

Section: Introductionmentioning

confidence: 99%

Kirigami‐Enabled, Passive Resonant Sensors for Wireless Deformation Monitoring

Charkhabi

Chan

Hwang

et al. 2019

Adv Materials Technologies

View full text Add to dashboard Cite

A passive resonant sensor with kirigami patterning is presented to wirelessly report material deformation in closed systems. The sensors are fabricated from copper‐coated polyimide by etching a conductive Archimedean spiral and then laser cutting kirigami patterns. The sensor response is defined as the resonant frequency in the transmission scattering parameter signal (S21), which is captured via a benchtop vector network analyzer. The sensors are tested over a 0–22 cm range of extension and show a significant shift in resonant frequency (e.g., 90 MHz shift for 10 cm stretch). Furthermore, the effect of resonator coil pitch on the extension sensor gain (MHz cm−1) and linear span of the sensor is studied. The repeatability of the sensor gain is confirmed by performing hysteresis cycles. The sensors is coated with polydimethylsiloxane films to protect from electrical shorting in aqueous environments. The coated resonators are placed in a pipe to report flow rates. The sensor with 1 mm coating is found to have the largest gain (0.17 MHz⋅s mL−1) and linear span (10–100 mL s−1). Thus, flexible resonant sensors with kirigami‐inspired patterns can be tuned via geometric and coating considerations to wirelessly report a large range of extension lengths for potential uses in health monitoring, motion tracking, deformation detection, and soft robotics.

show abstract

A Soft Gripper with Rigidity Tunable Elastomer Strips as Ligaments

Cited by 90 publications

References 33 publications

Emerging Material Technologies for Haptics

Emerging Material Technologies for Haptics

Design and Preliminary Testing of a Continuum Assistive Robotic Manipulator

Kirigami‐Enabled, Passive Resonant Sensors for Wireless Deformation Monitoring

Contact Info

Product

Resources

About