A soft multi-module manipulator with variable stiffness for minimally invasive surgery

Falco, Iris De; Cianchetti, Matteo; Menciassi, Arianna

doi:10.1088/1748-3190/aa7ccd

Cited by 87 publications

(53 citation statements)

References 48 publications

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“…The need for a pump generating a relatively high pressure difference is a limitation when portability is required. Nevertheless, in robotics, granular jamming has been demonstrated in mobile robots as well as in manipulators …”

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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“…In this work, the dual-arm soft robotic manipulator was used to realize the assembly task of a pipe joint and a pipe under the visual servo control system and air pressure control system. This is important for achieving the desired movement of the soft arms [25,26].…”

Section: Experimental Results Of Assemblymentioning

confidence: 99%

Design and Fabrication of a New Dual-Arm Soft Robotic Manipulator

Wang

2019

Actuators

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This paper presents the design and implementation of a dual-arm soft robotic manipulator. It consists of two soft manipulators, which are driven by pneumatic actuators. Each soft manipulator is composed of three soft modules, and each module includes three evenly distributed cavities inside. The flexible bending deformation of the soft module is produced by regulating the air pressure and changing the applying sequence to the cavities. The design and fabrication of the manipulator are presented in detail. The cooperation of the dual-arm soft robotic manipulator is implemented by adopting visual servo control. Experimental testing was carried out to demonstrate the manipulator performance. Unlike a single-arm manipulator, the robotic manipulator with dual arms features high flexibility, adaptability, and safety. The feasibility of the proposed dual-arm soft robotic manipulator is demonstrated by executing assembly tasks.

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“…29 After comprehensively considering the computational time and the precision, the number of segments N ¼ 10 is selected. Substituting above parameters into equation (14), it can be solved that 1 ¼ 0:202, 2 ¼ 3 ¼ 0:069, 0 ¼ 0, ! 0 ¼ 3:477 rad/m.…”

Section: Model Validationmentioning

confidence: 99%

A hybrid continuum robot based on pneumatic muscles with embedded elastic rods

Sun

Chen

Liu

et al. 2019

Proceedings of the Institution of Mechanical Engineers, Part C:

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Continuum robots have attracted increasing attention in recent years due to their intrinsic compliance and safety. Nevertheless, the use of structure compliance may lead to reduction of stiffness and positioning precision. This paper presents a novel design of a hybrid continuum robot whose actuators are composed of pneumatic muscles and embedded elastic rods. Such robot can switch drive modes between large-scale movement and fine adjustment of position by employing a locking mechanism to change its stiffness. A three-dimensional static model of the robot is presented using an improved Kirchhoff rod theory, where elastic deformation of the robot is accounted for from an optimal control point of view via minimal total potential energy principle. Experiments were carried out to validate the static model and to test the stiffness and precision of the robot. This work provides a possible way to strengthen the control precision of a continuum robot with compliant structure.

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A soft multi-module manipulator with variable stiffness for minimally invasive surgery

Cited by 87 publications

References 48 publications

Soft Robotic Grippers

Soft Robotic Grippers

Design and Fabrication of a New Dual-Arm Soft Robotic Manipulator

A hybrid continuum robot based on pneumatic muscles with embedded elastic rods

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