Design, Characterization, and Implementation of a Two-DOF Fabric-Based Soft Robotic Arm

Liang, Xinquan; Cheong, Haris; Sun, Yi; Guo, Jin; Chui, Chee-Kong; Yeow, Chen-Hua

doi:10.1109/lra.2018.2831723

Cited by 60 publications

(36 citation statements)

References 21 publications

Supporting

Mentioning

Contrasting

Order By: Relevance

“…e human arm robots [147][148][149][150][151][152][153][154][155][156][157][158][159]189] are designed with multijoints and a unique end effector and are categorized based on the application perspective, as shown in Table 3.…”

Section: Manipulation Flexibilitymentioning

confidence: 99%

Continuum Robots for Manipulation Applications: A Survey

Kolachalama

Lakshmanan

2020

Journal of Robotics

View full text Add to dashboard Cite

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.

show abstract

Section: Manipulation Flexibilitymentioning

confidence: 99%

Continuum Robots for Manipulation Applications: A Survey

Kolachalama

Lakshmanan

2020

Journal of Robotics

View full text Add to dashboard Cite

show abstract

“…Another approach to prepare a soft inflatable robotic arm for daily assistance at home was suggested by Liang et al 46 A nylon fabric was coated with thermoplastic polyurethane, in this way making the original fabric airtight to allow for pneumatic actuation. With two joints in perpendicular directions and a soft robotic gripper at the end, objects of various shapes and sizes could be grabbed.…”

Section: Hrimentioning

confidence: 99%

On the use of textile materials in robotics

Pyka

Jedrzejowski

Chudy

et al. 2020

Journal of Engineered Fibers and Fabrics

View full text Add to dashboard Cite

Robots can be used, among a broad variety of different applications, in the textile industry to fulfill mechanically challenging tasks which common automats are not capable of. On the contrary, textile fabrics can also be integrated in robotics. Textile-based laminates can be applied as actuators; spacer fabrics can prevent robot arms from hurting men or autonomous robots from damaging themselves on difficult terrain; or as flexible sensors in soft and traditional robotics. Here, we give an overview of recent applications of textile materials in robotics and point out possible future utilization of diverse textile materials in this emerging field of research and development with increasing importance for industrial processes as well as services.

show abstract

“…The fusion of soft robotics and wearable manipulators has created a new category of robotics which we call, Soft Poly-Limbs (SPLs) [30]. Limited research has started to emerge in this category, Tiziani et al [10] has introduced a soft polyfinger device, Liang et al [27] have suggested a two-DOF fabric-based soft poly-arm device that would eventually be integrated as a wearable robot, but have not evaluated the device for this use case yet. Finally, we recently introduced an elastomeric SPL device [30] capable of wrapping around objects to lift approximately 2.35x its own weight.…”

Section: Introductionmentioning

confidence: 99%

Fabric Soft Poly-Limbs for Physical Assistance of Daily Living Tasks

Nguyen

Mohd

Sparks

et al. 2019

2019 International Conference on Robotics and Automation (ICRA)

View full text Add to dashboard Cite

This paper presents the design and development of a highly articulated, continuum, wearable, fabric-based Soft Poly-Limb (fSPL). This fabric soft arm acts as an additional limb that provides the wearer with mobile manipulation assistance through the use of soft actuators made with high-strength inflatable fabrics. In this work, a set of systematic design rules is presented for the creation of highly compliant soft robotic limbs through an understanding of the fabric based components behavior as a function of input pressure. These design rules are generated by investigating a range of parameters through computational finite-element method (FEM) models focusing on the fSPL's articulation capabilities and payload capacity in 3D space. The theoretical motion and payload outputs of the fSPL and its components are experimentally validated as well as additional evaluations verify its capability to safely carry loads 10.1x its body weight, by wrapping around the object. Finally, we demonstrate how the fully collapsible fSPL can comfortably be stored in a soft-waist belt and interact with the wearer through spatial mobility and preliminary pick-and-place control experiments.

show abstract

Design, Characterization, and Implementation of a Two-DOF Fabric-Based Soft Robotic Arm

Cited by 60 publications

References 21 publications

Continuum Robots for Manipulation Applications: A Survey

Continuum Robots for Manipulation Applications: A Survey

On the use of textile materials in robotics

Fabric Soft Poly-Limbs for Physical Assistance of Daily Living Tasks

Contact Info

Product

Resources

About