HapWRAP: Soft Growing Wearable Haptic Device

Agharese, Nathaniel; Cloyd, Tyler; Blumenschein, Laura H.; Raitor, Michael; Hawkes, Elliot W.; Culbertson, Heather; Okamura, Allison M.

doi:10.1109/icra.2018.8460891

Cited by 46 publications

(30 citation statements)

References 15 publications

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“…Before implementing the control policy for the eversion robot, a system identification process is performed to get the parameters of the bending model described in (7). The setup of the modelling experiment is shown in Fig.…”

Section: Results and Analysis A System Identificationmentioning

confidence: 99%

“…Finally, we get a data set consisting of the main chamber's pressure p 0 , the bending pressure p i , and the bending angle θ at every step. Curve fitting based on leastsquare optimization is employed to fit the recorded data with the model described in (7). From this process, the parameters c 1 and c 2 in (7) are retrieved for each bending segment.…”

Section: Results and Analysis A System Identificationmentioning

confidence: 99%

“…Bigger error occurs in the case of bigger angle due to the approximation used in the bending model, particularly the linear assumption in the actuators' response described in (2) and in the structure's response described in (3). However, the model in (7) can still predict the bending angle with a root-mean-square error of 6.88 • .…”

Section: Results and Analysis A System Identificationmentioning

confidence: 99%

“…8b. This performance is achieved since the model, which is described in (7) and retrieved from the system identification process in Section V-A, considers the variation of the main chamber's pressure. Henceforth, the controller is able to compensate a higher stiffness state by producing more pressure for the bending pouches.…”

Section: B Simulation Resultsmentioning

confidence: 99%

“…Due to this mechanism, the eversion robot can grow from a tiny folded-state into a huge unfolded structure. Applications of robots using the eversion principle include antenna reconfiguration [6], wearable haptic devices [7], soft artificial muscles [8], and soft grippers [9].…”

Section: Introductionmentioning

confidence: 99%

See 4 more Smart Citations

Model-Based Pose Control of Inflatable Eversion Robot With Variable Stiffness

Ataka

Abrar

Putzu

et al. 2020

IEEE Robot. Autom. Lett.

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Plant-inspired inflatable eversion robots with their tip growing behaviour have recently emerged. Because they extend from the tip, eversion robots are particularly suitable for applications that require reaching into remote places through narrow openings. Besides, they can vary their structural stiffness. Despite these essential properties which make the eversion robot a promising candidate for applications involving cluttered environments and tight spaces, controlling their motion especially laterally has not been investigated in depth. In this paper, we present a new approach based on model-based kinematics to control the eversion robot's tip position and orientation. Our control approach is based on Euler-Bernoulli beam theory which takes into account the effect of the internal inflation pressure to model each robot bending segment for various conditions of structural stiffness. We determined the parameters of our bending model by performing a least-square technique based on the pressure-bending data acquired from an experimental study. The model is then used to develop a pose controller for the tip of our eversion robot. Experimental results show that the proposed control strategy is capable of guiding the tip of the eversion robot to reach a desired position and orientation whilst varying its structural stiffness.

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Section: Results and Analysis A System Identificationmentioning

confidence: 99%

Section: Results and Analysis A System Identificationmentioning

confidence: 99%

Section: Results and Analysis A System Identificationmentioning

confidence: 99%

Section: B Simulation Resultsmentioning

confidence: 99%

Section: Introductionmentioning

confidence: 99%

See 3 more Smart Citations

Model-Based Pose Control of Inflatable Eversion Robot With Variable Stiffness

Ataka

Abrar

Putzu

et al. 2020

IEEE Robot. Autom. Lett.

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Hydraulically Amplified Electrostatic Taxels (HAXELs) for Full Body Haptics

Leroy

Shea

2023

Adv Materials Technologies

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The ability to mechanically stimulate touch receptors over the entire body is a key feature for fully immersive and highly realistic virtual reality experience. Haptic stickers, flexible arrays of HAXELs (hydraulically amplified TAXels), that enable cutaneous haptics over nearly all parts of the body, are reported. HAXELs are zipping electrostatic actuators that combine stretchable elastomers and high permittivity flexible films to generate both high strains and high forces, from DC to 200 Hz. A fabrication process that enables scaling HAXELs from 2 to 15 mm in diameter is presented, allowing to tailor the actuators to different body parts and to wearables such as wrist‐watches. The different sizes of HAXELs generate blocked forces from 100 to 800 mN, with DC displacements from 100 to 850 µm, well above sensation thresholds. Haptics tests of Haptic Stickers, 5 × 5 arrays of 10 mm diameter devices, on palms, back of the hand, neck, arm, and back of a dozen volunteers, are done with users reporting high pattern recognition success on many body locations. The Haptic Stickers uniquely offer a thin and lightweight form‐factor, which does not limit the freedom of motion of the user, compatible with untethered scenarios.

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A Soft Growing Robot Using Hyperelastic Material

Kim

Ryu

2022

Advanced Intelligent Systems

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Soft growing robots have received considerable attention because of their unique locomotion. However, the use of a single material for their manufacturing causes numerous problems, because each part of the robot requires different characteristics. This study attempts to solve this fundamental problem from a material perspective, rather than integrating independent solutions. A hyperelastic material is proposed for building a soft growing robot. Several problems associated with conventional soft growing robots are addressed using a hyperelastic material that offers the required properties for each part of the soft growing robot, while maintaining its intrinsic advantages. Two unique features of hyperelastic materials, bulging and shape-locking, are introduced. The advantages that these two features offer to soft growing robots are investigated and analyzed. A soft growing robot, utilizing these features, can easily achieve shape locking, small tail tension, easy retraction, uniform circular inner channel, and wrinkle-free curve formation, without additional hardware. The initial concept of the growing and steering mechanisms of a hyperelastic soft growing robot is proposed and demonstrated using a prototype.

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HapWRAP: Soft Growing Wearable Haptic Device

Cited by 46 publications

References 15 publications

Model-Based Pose Control of Inflatable Eversion Robot With Variable Stiffness

Model-Based Pose Control of Inflatable Eversion Robot With Variable Stiffness

Hydraulically Amplified Electrostatic Taxels (HAXELs) for Full Body Haptics

A Soft Growing Robot Using Hyperelastic Material

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