A Tri-Stable Soft Robotic Finger Capable of Pinch and Wrap Grasps

Nguyen, Aaron K.; Russell, Alexander; Naclerio, Nicholas D.; Vuong, Vu Duc; Huang, Heming; Chui, Ka Lung; Hawkes, Elliot W.

doi:10.1109/icra40945.2020.9196818

Cited by 8 publications

(2 citation statements)

References 23 publications

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“…Nguyen et al made use of pneumatic actuation for controlling a tri-stable robotic finger by employing bistable buckling springs which can maintain two stable states depending on the energy input. They took into account three stable states of grasping: open, pinch, and wrap by employing two bi-stable springs of soft and stiff nature in the finger [6]. Kim et al replaced the compressor by an origami pump driven by tendons to control the bending angle of a soft robotic finger.…”

Section: Pneumatic Actuationmentioning

confidence: 99%

Actuation Technologies for Soft Robot Grippers and Manipulators: A Review

et al. 2021

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Purpose of Review The new paradigm of soft robotics has been widely developed in the international robotics community. These robots being soft can be used in applications where delicate yet effective interaction is necessary. Soft grippers and manipulators are important, and their actuation is a fundamental area of study. The main purpose of this work is to provide readers with fast references to actuation technologies for soft robotic grippers in relation to their intended application. Recent Findings The authors have surveyed recent findings on actuation technologies for soft grippers. They presented six major kinds of technologies which are either used independently for actuation or in combination, e.g., pneumatic actuation combined with electro-adhesion, for certain applications. Summary A review on the latest actuation technologies for soft grippers and manipulators is presented. Readers will get a guide on the various methods of technology utilization based on the application.

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Section: Pneumatic Actuationmentioning

confidence: 99%

Actuation Technologies for Soft Robot Grippers and Manipulators: A Review

et al. 2021

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“…Typically, one side of the actuator is easier to extend than the other side because of the design of the bellows; therefore, the bending motion is obtained by pressurizing the chamber. Although this structure, basically, generates simple bending motion, some designs have achieved a variety of motions by customizing the stiffness pattern of the actuator [9] or incorporating bi-stable buckling springs into the actuator [10]. Fiber reinforcement is another method for realizing bendable designs.…”

Section: Introductionmentioning

confidence: 99%

Design, Fabrication, and Characterization of a Temperature-Sensitive Fluid-Driven Soft Actuator

Yamamoto,

Tanaka,

Kamimura

2024

IEEE Access

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Typical soft actuators can perform unidirectional bending between pressurized and loose states. Multidirectional motion commonly requires multiple chambers or the bundling of multiple unidirectional actuators. If multidirectional motion can be achieved with a simple mechanism, it will provide considerable flexibility in designing objects such as grippers or wearable devices. Here, we present a new design for a multidirectional soft actuator that uses a combination of a temperature-sensitive material (TSM) and a non-temperature-sensitive material (NTSM). The actuator consists of a fluid chamber, and the bending is controlled by the temperature and pressure of the working fluid to balance the stiffness between the TSM and NTSM. In this study, the concept, design, and fabrication method are introduced, and the basic characteristics are discussed through experiments and modeling using a prototype actuator. The results of the static analysis of the curvature and curve fitting based on the model show that actuator bending in a static state can be represented by a simple linear-spring model. We also discuss the features, potential, and applications of the actuator by demonstrating its grasping capabilities.INDEX TERMS Soft robot materials and design, hydraulic/pneumatic actuators, soft actuators, soft robotics, temperature-sensitive materials

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