Combining Suction and Friction to Stabilize a Soft Gripper to Shear and Normal Forces, for Manipulation of Soft Objects in Wet Environments

Sandoval, Jessica; Xu, Thomas O; Adibnazari, Iman; Deheyn, Dimitri D.; Tolley, Michael T.

doi:10.1109/lra.2022.3149306

Cited by 11 publications

(8 citation statements)

References 23 publications

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“…Massimiliano et al [34] proposed an electroadhesive soft robotic gripper capable of achieving curved object envelopment. Sandoval et al [137] designed a viscous soft robotic gripper that combines the adhesion strength of suction with the shear stability of friction, enabling the successful grasping of large soft objects in humid environments. Ma et al [138] introduced an intelligent gripper with sensing, actuation, and control capabilities, facilitating proprioceptive feedback and autonomous adaptation of object shape in response to mechanical stimuli.…”

Section: Scmentioning

confidence: 99%

Variable stiffness soft robotic gripper: design, development, and prospects

Shan,

Zhao,

Wang

et al. 2023

Bioinspir. Biomim.

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The advent of variable stiffness soft robotic grippers furnishes a conduit for exploration and manipulation within uncharted, non-structured environments. The paper provides a comprehensive review of the necessary technologies for the configuration design of soft robotic grippers with variable stiffness, serving as a reference for innovative gripper design. The design of variable stiffness soft robotic grippers typically encompasses the design of soft robotic grippers and variable stiffness modules.To adapt to unfamiliar environments and grasp unknown objects, a categorization and discussion have been undertaken based on the contact and motion manifestations between the gripper and the things across various dimensions: points contact (PC), lines contact (LC), surfaces contact (SC), and full-bodies contact (FBC), elucidating the advantages and characteristics of each gripping type. Furthermore, when designing soft robotic grippers, we must consider the effectiveness of object grasping methods but also the applicability of the actuation in the target environment. The actuation is the propelling force behind the gripping motion, holding utmost significance in shaping the structure of the gripper. Given the challenge of matching the actuation of robotic grippers with the target scenario, we reviewed the actuation of soft robotic grippers. We analyzed the strengths and limitations of various soft actuation, providing insights into the actuation design for soft robotic grippers. As a crucial technique for variable stiffness soft robotic grippers, variable stiffness technology can effectively address issues such as poor load-bearing capacity and instability caused by the softness of materials. Through a retrospective analysis of variable stiffness theory, we comprehensively introduce the development of variable stiffness theory in soft robotic grippers and showcase the application of variable stiffness grasping technology through specific case studies. Finally, we discuss the future prospects of variable stiffness grasping robots from several perspectives of applications and technologies.

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Section: Scmentioning

confidence: 99%

Variable stiffness soft robotic gripper: design, development, and prospects

Shan,

Zhao,

Wang

et al. 2023

Bioinspir. Biomim.

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“…[16] Note that the elastic-membrane gripper requires a unique inflation-deflation process for object manipulation, while the multimodal envelope gripper exhibits the ability to hold subjects using both its inner and outer surfaces, even incorporating a specially designed disk for added versatility. Vacuum grippers displayed notable advantages, such as requiring minimal operating space [125,129] and demonstrating substantial output force due to negative pressure. [76] These grippers harness the power of vacuum to generate significant grasping force without incurring considerable deformations, which distinguished them from certain SPA designs that prioritize the conversion of energy input into two distinct aspects (shape and force response).…”

Section: Vacuum-based Designmentioning

confidence: 99%

“…Utilizing a PneuNet structure, this unique design allows the gripper to flex toward the target, while the incorporated sucker securely held the object in place. [ 77 ] Similarly, Sandoval devised a remarkable three‐fingered PneuNets SPA, where a central sucker added an extra layer of gripping capability [ 125 ] ( Figure a). Other ingenious designs include PneuNets that exhibit bending in the opposite direction of traditional SPAs when subjected to negative pressure (Figure 7b).…”

Section: Soft Robotic Actuators and Designmentioning

confidence: 99%

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Intelligent Soft Robotic Grippers for Agricultural and Food Product Handling: A Brief Review with a Focus on Design and Control

Liu,

Hou,

et al. 2023

Advanced Intelligent Systems

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Advances in material sciences, control algorithms, and manufacturing techniques have facilitated rapid progress in soft grippers, propelling their adoption in various fields. In this review article, a comprehensive overview of the design and control aspects of intelligent soft robotic grippers tailored specifically for agricultural product handling is provided. Soft grippers have emerged as a promising solution for handling delicate and fragile objects. In this article, the recent progress in various gripper design, including fluidic and mechanical grippers, is elucidated and the role of advanced control approaches in enabling intelligent functions, such as object classification and grasping condition evaluation, is explored. Moreover, the challenges and opportunities pertaining to implementation of soft grippers in the agricultural industry are thoroughly discussed. While most demonstrations of soft grippers and their control strategies remain at the experimental stage, in this article, it is aimed to provide insights into the potential applications of soft grippers in agricultural product handling, thereby inspiring future research in this field.

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“…Texturing the gripper surface of a soft robotic gripper has been done frequently in the soft robotic field. The Bioinspired Robotics and Design Lab at UCSD commonly applies texture to their grippers [34,35]. The pattern depends on the target environment of the gripper, i.e.…”

Section: Details On Designmentioning

confidence: 99%

Gripping Aerial Topology Optimized Robot (GATOR)

Guibert

Chambers

Cao

et al. 2023

2023 IEEE Aerospace Conference

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This paper introduces the design, modeling, manufacturing, and testing of a Gripping Aerial Topology Optimized Robot (GATOR). The airframe of this unmanned aerial vehicle (UAV) is designed to be lightweight, structurally stiff, modular, and multi-functional. A Level-Set Topology Optimization (LSTO) method defines the external geometry of the frame, while the frame infill is controlled using a variable thickness latticing technique based on Finite Element Analysis (FEA) results. The UAV incorporates a soft robotic gripper, allowing the vehicle to collect delicate samples from the environment and perch for low-power use for extended periods. The bioinspired design and fabrication of a mountable soft robotic gripper are presented and the associated kinematics are derived for controls. To further decrease the weight of the designs a novel volume-changing material was introduced following careful characterization through Scanning Electron Microscopy (SEM) and tensile testing. The resulting platform leverages additive manufacturing using material extrusion technology and can be swiftly instrumented with propulsion and flight control systems. The presented modular design methodology can be applied to the rapid prototyping of a broad range of aerial platforms and lightweight structures.

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Combining Suction and Friction to Stabilize a Soft Gripper to Shear and Normal Forces, for Manipulation of Soft Objects in Wet Environments

Cited by 11 publications

References 23 publications

Variable stiffness soft robotic gripper: design, development, and prospects

Variable stiffness soft robotic gripper: design, development, and prospects

Intelligent Soft Robotic Grippers for Agricultural and Food Product Handling: A Brief Review with a Focus on Design and Control

Gripping Aerial Topology Optimized Robot (GATOR)

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