Elastic materials producing compliant robots

Suzumori, Koichi

doi:10.1016/0921-8890(95)00078-x

Cited by 102 publications

(68 citation statements)

References 1 publication

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“…Craig et al [18] point out that these types of actuators can be folded to reduce shipping volume specially for space applications. Bending actuators designed with multi-lumen hoses are represented by the work of Suzumori et al [122][123][124][125][126] shown in figure 5(f). Radial reinforcements inhibit radial expansion so that the operating pressure is 1.4 − 4 bar.…”

Section: Flexible Fluidic "Bending" Actuatorsmentioning

confidence: 99%

Compliant Robotics and Automation with Flexible Fluidic Actuators and Inflatable Structures

Gaiser¹,

Wiegand²,

Ivlev³

et al. 2012

Smart Actuation and Sensing Systems - Recent Advances and Future Challenges

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Section: Flexible Fluidic "Bending" Actuatorsmentioning

confidence: 99%

Compliant Robotics and Automation with Flexible Fluidic Actuators and Inflatable Structures

Gaiser¹,

Wiegand²,

Ivlev³

et al. 2012

Smart Actuation and Sensing Systems - Recent Advances and Future Challenges

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“…For example, complex motions can be embedded into a monolithic structure, which reduces the mechanical complexity (i.e. no moving parts), manufacturing costs, and can simplify the controls overhead [1], [2], [3]. Soft systems also offer improved safety as these actuators (typically pneumatic or hydraulic) are inherently safe for interfacing with humans, animals or fragile objects due to their natural compliance and back drivability [4].…”

Section: Introductionmentioning

confidence: 99%

Mechanically programmable bend radius for fiber-reinforced soft actuators

Galloway

Polygerinos

Walsh³

et al. 2013

2013 16th International Conference on Advanced Robotics (ICAR)

242

155

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Abstract-Established design and fabrication guidelines exist for achieving a variety of motions with soft actuators such as bending, contraction, extension, and twisting. These guidelines typically involve multi-step molding of composite materials (elastomers, paper, fiber, etc.) along with specially designed geometry. In this paper we present the design and fabrication of a robust, fiber-reinforced soft bending actuator where its bend radius and bending axis can be mechanically-programed with a flexible, selectively-placed conformal covering that acts to mechanically constrain motion. Several soft actuators were fabricated and their displacement and force capabilities were measured experimentally and compared to demonstrate the utility of this approach. Finally, a prototype two-digit endeffector was designed and programmed with the conformal covering to shape match a rectangular object. We demonstrated improved gripping force compared to a pure bending actuator. We envision this approach enabling rapid customization of soft actuator function for grasping applications where the geometry of the task is known a priori.

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“…Soft robots contain little or no rigid material and have been designed to perform a wide variety of robotic tasks, from bio-inspired crawling and peristalsis (Seok et al, 2013) to pick-and-place gripping (Suzumori, 1996;Brown et al, 2010;Ilievski et al, 2011;Song and Sitti, 2014;Mosadegh et al, 2014;Deimel and Brock, 2014). Their unique promise for enabling inherently safe and adaptive contact with both solid and soft surfaces has made these emerging systems attractive for wearable and field robotics (Trivedi et al, 2008;Majidi, 2013;Kim et al, 2013;Laschi and Cianchetti, 2014).…”

Section: Introductionmentioning

confidence: 99%

“…This is especially true of soft gripping mechanisms, which use a single end effector or multiple fingers and are dramatically more compliant than conventional robot grippers. For some designs, such as the four-fingered gripper (Suzumori, 1996) and six-pointed star gripper shown in Figure 1 tentacle that is actuated with motor-driven cables and shape memory alloy (Laschi et al, 2012). Soft robot gripping has also been demonstrated with bio-hybrid actuators composed of ventricular cardiomyocyte cells harvested on a thin film of silicone elastomer, as shown in Figure 1(d) (Feinberg et al, 2007).…”

Section: Introductionmentioning

confidence: 99%

Soft hands: An analysis of some gripping mechanisms in soft robot design

Zhou

Majidi

O’Reilly

2015

International Journal of Solids and Structures

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In contrast to their more rigid counterparts, soft robots have the ability to gently grip and maneuver objects with open-loop kinematic control. Guided by several recent designs and implementations of soft robot hands, the present paper analyzes a rod-based model for the fingers in the hand of a soft robot.We show precisely how gripping is achieved and how the performance can be affected by varying the system's parameters. The designs we are interested in feature pneumatic control of the soft robot and we model this actuation as a varying intrinsic curvature profile of the rod. Our work provides a framework for the theoretical analysis of the soft robot and the resulting analysis can also be used to develop some design guidelines.

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Elastic materials producing compliant robots

Cited by 102 publications

References 1 publication

Compliant Robotics and Automation with Flexible Fluidic Actuators and Inflatable Structures

Compliant Robotics and Automation with Flexible Fluidic Actuators and Inflatable Structures

Mechanically programmable bend radius for fiber-reinforced soft actuators

Soft hands: An analysis of some gripping mechanisms in soft robot design

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