Design and Fabrication of Long Soft-Robotic Elastomeric Actuator Inspired by Octopus Arm

Jiao, Jian; Liu, Shengkai; Deng, Hao; Lai, Yufeng; Li, Fuhua; Mei, Tao; Huang, Haiming

doi:10.1109/robio49542.2019.8961561

Cited by 10 publications

(6 citation statements)

References 28 publications

Supporting

Mentioning

Contrasting

Order By: Relevance

“…The method for fabricating soft arms is described in detail in our previous study [29]. Briefly, it comprises three stages: (a) design of a semicircular core mold, (b) installation of an inextensible base layer and fibers, (c) demolding of the soft arm.…”

Section: Soft Arm Fabrication Methodsmentioning

confidence: 99%

Modeling of a bio-inspired soft arm with semicircular cross section for underwater grasping

Liu¹,

Jiao²,

Kong³

et al. 2021

Smart Mater. Struct.

Self Cite

View full text Add to dashboard Cite

Fluid-filled fiber-reinforced elastomeric enclosures (FREEs) with a circular cross section, inspired by the muscle structure of octopus arms, are a popular choice for actuators because of their high power density and relatively low manufacturing cost. However, the shape, flexibility, and grasping force of FREEs are slightly different from those of real octopus arms. A soft arm with a semicircular cross section has better bending performance than that of FREEs with a circular cross section and can thus more easily achieve flexible grasping. In this paper, to better describe the deformation of soft arm shape in an underwater environment, a model based on a constrained maximization volume is proposed for a semicylindrical soft arm. In particular, the model takes into account the effect of the expansion of the bottom on the semicylindrical soft arm and the proposed analytical model is used to analyze the factors that affect the helix radius of the soft arm, including the helix angles of the fibers, wall thickness, and inner radius of the soft arm. Then a method for fabricating soft arms with a semicircular cross section (length: 700 mm) and a method for extracting the helix radius are also proposed. Finally, a series of driving experiments is performed to measure the accuracy of the model using a hydraulic platform. Experimental results show that the maximum error rate of the helix radius is between 8.99% and 12.29%. The helix radius can be varied from 74.3 mm to 176 mm by changing the parameters of the soft arm.

show abstract

Section: Soft Arm Fabrication Methodsmentioning

confidence: 99%

Modeling of a bio-inspired soft arm with semicircular cross section for underwater grasping

Liu¹,

Jiao²,

Kong³

et al. 2021

Smart Mater. Struct.

Self Cite

View full text Add to dashboard Cite

show abstract

“…The principles behind this work have more recently evolved into the branch of fluidic elastomer actuators (FEAs) commonly used today [21]. FEA designs span actuator geometries [22,23] built from a variety of low modulus, non-linear elastomeric polymers [24][25][26][27]. Almost two decades after Suzumori's work, came the development of the PneuNet actuator [28].…”

Section: Silicone Pneumatic Actuatorsmentioning

confidence: 99%

The Role of Soft Robotic Micromachines in the Future of Medical Devices and Personalized Medicine

et al. 2021

View full text Add to dashboard Cite

Developments in medical device design result in advances in wearable technologies, minimally invasive surgical techniques, and patient-specific approaches to medicine. In this review, we analyze the trajectory of biomedical and engineering approaches to soft robotics for healthcare applications. We review current literature across spatial scales and biocompatibility, focusing on engineering done at the biotic-abiotic interface. From traditional techniques for robot design to advances in tunable material chemistry, we look broadly at the field for opportunities to advance healthcare solutions in the future. We present an extracellular matrix-based robotic actuator and propose how biomaterials and proteins may influence the future of medical device design.

show abstract

“…Indirect approach (a) (b) In the direct approach, the kinematic movements of the robotic system describe the form to interact with the environment. Some of the solutions with a direct perspective approach are dynamic programming [14], soft robotics designing [15] and differential systems [16]. On the other hand, the indirect perspective considered the environment as the principal element to define the agent's movements.…”

Section: Direct Approachmentioning

confidence: 99%

“…According to [54], one principal feature for measuring path planning is the number of collisions. Due to the auto-encoder generating a sequence of nodes corresponding to a vector, we suggest metrics to compare vectors between a expected vector x with an generated vector y, such as euclidean distance ( 14), Manhattan distance, (15) and cosine similarity distance (16). Besides, a free path coefficient measures whether an obstacle appears on the path defined by (17).…”

Section: Path Planning Generator With Metadata Performancementioning

confidence: 99%

Path Planning Generator with Metadata through a Domain Change by GAN between Physical and Virtual Environments

Maldonado-Romo

Aldape-Pérez

Rodríguez-Molina

2021

Sensors

View full text Add to dashboard Cite

Increasingly, robotic systems require a level of perception of the scenario to interact in real-time, but they also require specialized equipment such as sensors to reach high performance standards adequately. Therefore, it is essential to explore alternatives to reduce the costs for these systems. For example, a common problem attempted by intelligent robotic systems is path planning. This problem contains different subsystems such as perception, location, control, and planning, and demands a quick response time. Consequently, the design of the solutions is limited and requires specialized elements, increasing the cost and time development. Secondly, virtual reality is employed to train and evaluate algorithms, generating virtual data. For this reason, the virtual dataset can be connected with the authentic world through Generative Adversarial Networks (GANs), reducing time development and employing limited samples of the physical world. To describe the performance, metadata information details the properties of the agents in an environment. The metadata approach is tested with an augmented reality system and a micro aerial vehicle (MAV), where both systems are executed in an authentic environment and implemented in embedded devices. This development helps to guide alternatives to reduce resources and costs, but external factors limit these implementations, such as the illumination variation, because the system depends on only a conventional camera.

show abstract

Design and Fabrication of Long Soft-Robotic Elastomeric Actuator Inspired by Octopus Arm

Cited by 10 publications

References 28 publications

Modeling of a bio-inspired soft arm with semicircular cross section for underwater grasping

Modeling of a bio-inspired soft arm with semicircular cross section for underwater grasping

The Role of Soft Robotic Micromachines in the Future of Medical Devices and Personalized Medicine

Path Planning Generator with Metadata through a Domain Change by GAN between Physical and Virtual Environments

Contact Info

Product

Resources

About