Development of a Multi-functional Soft Robot (SNUMAX) and Performance in RoboSoft Grand Challenge

Lee, Jun-Young; Kang, Brian Byunghyun; Lee, Dae-Young; Baek, Sang-Min; Kim, Woongbae; Choi, Woo-Young; Song, Jeong-Ryul; Joo, Hyeong-Joon; Park, Daegeun; Cho, Kyu-Jin

doi:10.3389/frobt.2016.00063

Cited by 13 publications

(6 citation statements)

References 23 publications

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“…The Bowden cable has become a part of the soft robot’s structure, as depicted in Figure 2, due to its compliant properties and the high degrees of freedom in its routing path (In et al, 2015). Examples of soft robots that use Bowden-based, tendon-driven actuation include soft wearable gloves (Choi et al, 2019; In et al, 2015; Kang et al, 2016; Nilsson et al, 2012; Nycz et al, 2016; Popov et al, 2017), the Exosuit for gait assistance (Asbeck et al, 2015), upper-limb assistance devices (Chiaradia et al, 2018; Dinh et al, 2017; Park and Cho, 2017), soft manipulators (Lee et al, 2016), and soft surgical tools (Cianchetti et al, 2018; Le et al, 2016). Dissimilar to the pulley-routed tendon-driven mechanism in articulated rigid robots (Kobayashi et al, 1998; Shirafuji et al, 2014), one important issue in Bowden cable-based transmission in soft robotic devices is the high friction along the cable (Cianchetti et al, 2018; Kaneko et al, 1991; Le et al, 2016), which has a great effect on the force transmission property and greatly affects fatigue failure of the actuation system.…”

Section: Failure Analysis Of a Tendon-driven Soft Robotmentioning

confidence: 99%

Reliability analysis of a tendon-driven actuation for soft robots

Jeong

Kim

et al. 2020

The International Journal of Robotics Research

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The reliability of soft robotic devices will be the bottleneck that slows their commercialization. In particular, fatigue failure issues are a major concern. Thus, reliability should be taken into account from the earliest stages of development. However, to date, there have been no attempts to analyze the reliability of soft robotic devices in a systematic manner. When soft robots are employed to force transmission applications, reliability is typically a dominant issue, since soft robotic structures are constructed with soft material components; these materials have highly nonlinear properties that arise due to the large distribution in the material properties. Furthermore, reliability should be analyzed from the robot’s system down to the components using domain knowledge about the system; this requires a systematic approach. This study presents a framework for reliability analysis of soft robotic devices taking into account a probability distribution that has not been considered before and examines a case study of a tendon-driven soft robot. This study focuses specifically on the (a) concept design process, (b) lifetime analysis process, and (c) design and optimization process. A life model that considers distribution is proposed using accelerated life testing based on analysis of the failure mechanism of the tendon-driven system. The tensile stress of the wire was varied during the experiment with different bend angles and output tension. The result was validated with different stress levels using a testbed to simulate an actual application. The proposed reliability analysis methodology could be applied to other soft robotic systems, such as pneumatic actuators, to improve the reliability-related properties during the robot design stage, and the life model can be used to estimate the device lifetime under various stress conditions.

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Section: Failure Analysis Of a Tendon-driven Soft Robotmentioning

confidence: 99%

Reliability analysis of a tendon-driven actuation for soft robots

Jeong

Kim

et al. 2020

The International Journal of Robotics Research

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“…1 Modern origami-inspired engineering has seen significant success, particularly in the field of origami robots, autonomous machines known for their advanced flexibility and adaptability. 2 These robots find application in various domains, from robotic manipulators 3 to locomotion robots, 4 operating at scales ranging from meters 5 to micrometres. 6 Recently, the introduction of novel actuation methods in origami robots has enhanced their performance to new levels.…”

Section: Introductionmentioning

confidence: 99%

Actuation study of self-reconfigurable bistable robots based on Kresling tower

Hu,

Roux,

Marionnet

et al. 2024

Active and Passive Smart Structures and Integrated Systems XVIII

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Origami, an ancient Japanese paper art, has inspired diverse fields, leading to modern origami-inspired engineering, notably origami robots known for outstanding versatility across scales. Recent advancements in the field of origami robots have ushered in improved performance through the implementation of innovative actuation methods and the incorporation of non-rigid origami. The latter, known for its energy-efficient approach utilizing multi-stabilities, facilitates shape-changing and shape-locking. Nevertheless, non-rigid origami in robotics remains in its formative stages, marked by persistent challenges, notably the intricate task of achieving precise actuation while managing the bistability-reconfiguration trade-off. This article aims to develop a multifunctional mesoscale reconfigurable robot based on the Kresling tower pattern, characterized by advanced mechanical properties such as rapid shape-changing, shape-blocking capabilities, and adjustable structural behavior. To this end, we present the development of a polypropylene (PP)-based origami robot based on the 'Kresling' pattern. An in-body actuation mechanism is developed to facilitate the robot's bistable shape-changing capabilities. Furthermore, we provide a comprehensive mechanical performance assessment of the origami robot.

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“…Smart materials used for this purpose include thermally activated materials, chemically activated materials, electro-activated materials, magnetically activated materials, and light-activated materials. Jun-Young Lee et al proposed a multifunctional motor-driven soft robot based on transformable origami wheels [13]. Suk-Jun Kim et al developed an origami self-locking foldable robotic arm using a tendon-driven system [14].…”

Section: Introductionmentioning

confidence: 99%

Design of an Origami Crawling Robot with Reconfigurable Sliding Feet

et al. 2022

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This paper presents a novel reconfigurable crawling robot based on an origami twisted tower structure. Compared with other origami structures, the twisted tower can achieve extension, contraction, and bending motions as the flexible body parts in robotic designs. The kinematics of a one-layer twisted tower were analyzed with rotation and bending angles. The mechanical properties of the one-layer, two-layer, and four-layer twisted towers were compared with compression experiments. A rope-motor-driven crawling robot was designed to realize forward, backward, left-turning, and right-turning motions. Two types of crawling robot with specific sliding feet were developed to adapt to different ground conditions: one made of rubber, and the other embedded with an electromagnet. The experimental results show that the proposed robots can move at an average forward speed of 0.48 cm/s on a wooden desk, and at 0.52 cm/s forward speed or 0.65 cm/s backward speed on an iron platform.

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Development of a Multi-functional Soft Robot (SNUMAX) and Performance in RoboSoft Grand Challenge

Cited by 13 publications

References 23 publications

Reliability analysis of a tendon-driven actuation for soft robots

Reliability analysis of a tendon-driven actuation for soft robots

Actuation study of self-reconfigurable bistable robots based on Kresling tower

Design of an Origami Crawling Robot with Reconfigurable Sliding Feet

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