Control design of shape memory alloy based multi-arm continuum robot inspired by octopus

Zheng, Tianjiang; Yang, Yana; Branson, David T.; Kang, Rongjie; Cianchetti, Matteo; Caldwell, Darwin G.; Yang, Guilin

doi:10.1109/iciea.2014.6931331

Cited by 13 publications

(6 citation statements)

References 20 publications

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“…is experiment provided detailed information regarding the structure of octopus limbs, which assisted in developing prototypes [79][80][81][82][83] using shape memory alloys (current sensitive) and fluid actuators mimicking the animal behavior.…”

Section: Manipulation Flexibilitymentioning

confidence: 99%

Continuum Robots for Manipulation Applications: A Survey

Kolachalama

Lakshmanan

2020

Journal of Robotics

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This paper presents a literature survey documenting the evolution of continuum robots over the past two decades (1999–present). Attention is paid to bioinspired soft robots with respect to the following three design parameters: structure, materials, and actuation. Using this three-faced prism, we identify the uniqueness and novelty of robots that have hitherto not been publicly disclosed. The motivation for this study comes from the fact that continuum soft robots can make inroads in industrial manufacturing, and their adoption will be accelerated if their key advantages over counterparts with rigid links are clear. Four different taxonomies of continuum robots are included in this study, enabling researchers to quickly identify robots of relevance to their studies. The kinematics and dynamics of these robots are not covered, nor is their application in surgical manipulation.

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Section: Manipulation Flexibilitymentioning

confidence: 99%

Continuum Robots for Manipulation Applications: A Survey

Kolachalama

Lakshmanan

2020

Journal of Robotics

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“…Eq. (14) and Eq. (18) form a set of ordinary differential equations, which need boundary conditions for solution.…”

Section: B Statics Formulationmentioning

confidence: 99%

“…In addition to their increased use in the academic community, soft robots are widely used in industrial operations [9], medicine [8], bionic robots [10], etc. The actuation strategies employed in soft robots mainly consist of pneumatic actuator-driven [11], [12], tendon-driven [13], shape memory alloy (SMA)-driven [14], and electroactive polymer (EAP)-driven mechanisms [15], which provide the merit of high dexterity and compliance [16] along with the extra drawbacks of low carrying capacity and poor anti-interference…”

Section: Introductionmentioning

confidence: 99%

Stiffness Analysis of a Pneumatic Soft Manipulator Based on Bending Shape Prediction

Zhang

Chen

et al. 2020

IEEE Access

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Soft manipulators can perform continuous operations due to their inherent compliance and dexterity, thus enabling safe interactions and smooth movements in confined environments. However, high compliance usually means low load capacity. It is important for a soft manipulator to possess proper flexibility while maintaining an acceptable stiffness to widen its applications. This paper has hence devoted efforts to a kind of variable stiffness mechanism for a soft manipulator actuated by pneumatic artificial muscles (PAMs). Due to the combination of contractile and extensor PAMs, the manipulator is able to vary its stiffness independently from the configuration. The stiffness characteristics of the soft manipulator are quantitatively analyzed by bending shape prediction under different loading and inflation conditions, and the prediction is built upon a nonlinear statics model coupled with PAM nonlinearity and the Cosserat theory. In addition, experimental measurements are conducted to further validate the expected performance of the manipulator design. The experimental and verified theoretical analysis results indicate that the manipulator shape and stiffness are greatly affected by the pressure variation of PAMs, realizing a large bending space with a high output force. The variable stiffness design obviously increases the manipulator's ability to resist additional interference at the same position. INDEX TERMS Soft manipulator, PAM, bending shape prediction, variable stiffness, the Cosserat theory. LINA HAO received the Ph.D. degree in control theory and control engineering from Northeastern University, China, in 2001. From 2005 to 2006, she worked as a Visiting Researcher with Michigan State University, USA. She is currently a Professor with the School of Mechanical Engineering and Automation, Northeastern University. Her main research interests include design and control of micro-nano robotic systems, bionic drivers of artificial muscles, and smart sensors and actuators. She is a Fellow of the IEEE Robotics and Automation Society and the International Society of Bionic Engineering.

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“…They serve as an alternative to the classic industrial rigid manipulators in applications that put the robot in the same workspace as humans. Often bio-inspired [23] [24] [25] [26], these robots are mainly composed by an elongated structure or backbone which is actuated, intrinsically or extrinsically [27], to achieve a certain pose. The compliant nature of this class of manipulators make human-robot interaction very safe; the force in what could be a hazardous collision between the robot and the human gets absorbed by the compliance of the robot.…”

Section: Modeling Soft Robotsmentioning

confidence: 99%