Design and modeling of a hydraulic soft actuator with three degrees of freedom

Xie, Qing; Wang, Tao; Yao, Shengda; Zhu, Zhaolin; Tan, Ning; Zhu, Shiqiang

doi:10.1088/1361-665x/abc26e

Cited by 28 publications

(20 citation statements)

References 27 publications

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“…The PCC model exhibits superior control performance for fluid‐actuated and cable‐actuated soft actuators. [ 63,230,231 ] A soft robot for underwater operations verified the feasibility of this model in a microgravity environment. [ 232 ] However, when environmental loads are significant or act on the nonconstant sections of a soft manipulator, control based on the PCC model often fails.…”

Section: Sensing and Controlmentioning

confidence: 99%

Progress, Challenges, and Prospects of Soft Robotics for Space Applications

Zhang

Quan

et al. 2022

Advanced Intelligent Systems

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The development of space robots is vital to broadening human cognitive boundaries. Space robots have been deployed in space science experiments, extravehicular operations, and deep space exploration. The application of space robots undoubtedly reduces the risk and cost of space activities. Traditional space robots primarily utilize rigid structures, resulting in limited degrees of freedom, which restricts their operational capabilities. In contrast, soft robots with greater flexibility and robustness may be used for future space exploration. Soft robots applied in space environments must overcome significant challenges associated with ultrahigh vacuum, microgravity, extreme temperatures, and high‐energy radiation. Herein, a comprehensive analysis of the key advantages of soft robots is presented based on the special requirements of the space environments for soft robots. Furthermore, brief insights into how soft robots must be changed in terms of their design, modeling, fabrication, sensing, and control to adapt to space environments are discussed. Specifically, soft robot scenarios with potential space application value are introduced. Finally, opinions regarding the potential directions of soft space robots are provided.

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Section: Sensing and Controlmentioning

confidence: 99%

Progress, Challenges, and Prospects of Soft Robotics for Space Applications

Zhang

Quan

et al. 2022

Advanced Intelligent Systems

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“…5,6 Flexible fluidic actuators are flexible inflatable structures driven by fluids. Typically, there are three types of flexible fluidic actuators, including hydraulic-driven actuators, 7,8 pneumatic-driven actuators, 9,10 and vacuumdriven actuators, 11,12 depending on the actuation fluid (air or liquid) or type of pressure (positive pressure or negative pressure). All these actuators consist of a flexible chamber usually made of elastomeric materials (such as silicones and polyurethane), hydrogels, plastics, and cloth.…”

Section: Soft Actuatorsmentioning

confidence: 99%

Pioneering healthcare with soft robotic devices: A review

Wang,

Xie,

Huang

et al. 2024

Smart Medicine

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Recent advancements in soft robotics have been emerging as an exciting paradigm in engineering due to their inherent compliance, safe human interaction, and ease of adaptation with wearable electronics. Soft robotic devices have the potential to provide innovative solutions and expand the horizons of possibilities for biomedical applications by bringing robots closer to natural creatures. In this review, we survey several promising soft robot technologies, including flexible fluidic actuators, shape memory alloys, cable‐driven mechanisms, magnetically driven mechanisms, and soft sensors. Selected applications of soft robotic devices as medical devices are discussed, such as surgical intervention, soft implants, rehabilitation and assistive devices, soft robotic exosuits, and prosthetics. We focus on how soft robotics can improve the effectiveness, safety and patient experience for each use case, and highlight current research and clinical challenges, such as biocompatibility, long‐term stability, and durability. Finally, we discuss potential directions and approaches to address these challenges for soft robotic devices to move toward real clinical translations in the future.

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“…The parts made of silicone rubber are fabricated by casting method, and the chambers and the silicone tubes inserted at the top are spliced using silicone adhesive (Ease Release 200, Smooth-on, USA). 36,37 The design length of the single-section soft robotic arm is 130 mm and the outer diameter is 25 mm.…”

Section: Structure and Actuation Principlementioning

confidence: 99%

Dynamic response prediction of hydraulic soft robotic arms based on LSTM neural network

Xie

Zhang

Wang

et al. 2023

Proceedings of the Institution of Mechanical Engineers, Part I:

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Hydraulic soft robotic arms possess advantages of high flexibility and good adaptability by simulating biological organs, such as elephant trunks and octopus tentacles, and therefore have broad application prospects in unstructured environments. However, the dynamic models established by physical mechanism have some problems, such as lack of accuracy and poor real-time performance due to complex nonlinear relationships between hydraulic pressures and arm deformations. This article investigated the dynamic analysis and response prediction of a double-section hydraulic soft arm based on long short-term memory neural network. The real-time tip coordinates of the hydraulic soft arm were collected under randomly generated pressure excitations. The long short-term memory neural network was built by taking the hydraulic pressures as inputs and the tip coordinates as outputs. The experimental data were divided into training set, validation set, and test set, where the training set was used to learn the parameters of the long short-term memory network, the validation set was used to optimize the hyperparameters, and the test set was used to evaluate the performance. The results showed that the dynamic model based on the long short-term memory neural network could predict the dynamic response of the hydraulic soft arm under given inputs efficiently and accurately. This data-driven model provides a candidate for the application of dynamic response prediction and motion control of the hydraulic soft arm.

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Design and modeling of a hydraulic soft actuator with three degrees of freedom

Cited by 28 publications

References 27 publications

Progress, Challenges, and Prospects of Soft Robotics for Space Applications

Progress, Challenges, and Prospects of Soft Robotics for Space Applications

Pioneering healthcare with soft robotic devices: A review

Dynamic response prediction of hydraulic soft robotic arms based on LSTM neural network

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