Inspired by Physical Intelligence of an Elephant Trunk: Biomimetic Soft Robot With Pre-Programmable Localized Stiffness

Ma, Ke; Chen, Xiao; Zhang, Jie; Xie, Zekai; Wu, Jianing; Zhang, Jinxiu

doi:10.1109/lra.2023.3256922

Cited by 16 publications

(7 citation statements)

References 40 publications

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“…Soft finger gripping head. The "soft finger" is a kind of soft robot that is created out of softdriven materials (Wang and Kang, 2023;Nakano et al, 2023;Ma et al, 2023). It is bionic to all different types of hand motions, such as the ability of human fingers to rub, knead, twist, grab and do other precise actions [Note: the "soft finger" is not a real finger] (Polygerinos et al, 2015).…”

Section: Automatic Grasping Methodsmentioning

confidence: 99%

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Research progress of automatic grasping methods for garment fabrics

Wang,

Shen,

Yao

et al. 2023

IJCST

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Purpose The purpose of this paper is to gain an in-depth understanding into the research progress, hot spots and future trends in smart gripping technology in the field of apparel smart manufacturing.Design/methodology/approach This work scrutinised the current research status of the five automatic grasping methods for garment fabrics including the pneumatic suction grasping, the electrostatic grasping, the intrusive grasping and the dexterous grasping. Specifically, the principles, characteristics, main devices and the impact on garment production were discussed.Findings In particular, soft finger of the dexterous grasping method has good flexibility and adaptability in the process of fabric grasping, which provides a new solution for garment production automation. Up to now, the reviewed method in general exhibit good grasping speed, high grasping stability and flat grasping process. However, in the face of complex fabric materials which are thin and flexible and do not return their original shapes when deformed in practical applications, the gripper for automatic fabric grasping need new technological breakthroughs in the positioning accuracy, grab efficiency and flexible grasping.Originality/value The outcomes offered an overview of the research status and future trends of the automatic grasping methods for garment fabrics in the field of apparel intelligent manufacturing. It could not only provide scholars with convenience in identifying research hot spots and building potential cooperation in the follow-up research but also assist beginners in searching core scholars and literature of great significance.

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Section: Automatic Grasping Methodsmentioning

confidence: 99%

“…The “soft finger” is a kind of soft robot that is created out of soft-driven materials (Wang and Kang, 2023; Nakano et al. , 2023; Ma et al. , 2023).…”

Section: Automatic Grasping Methodsmentioning

confidence: 99%

Research progress of automatic grasping methods for garment fabrics

Wang,

Shen,

Yao

et al. 2023

IJCST

View full text Add to dashboard Cite

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“…[ 9–12 ] To overcome this limitation, there is a need to devise an approach to enable the structural stiffness to be programmable for meeting diverse interaction requirements. [ 13–16 ]…”

Section: Introductionmentioning

confidence: 99%

“…[9][10][11][12] To overcome this limitation, there is a need to devise an approach to enable the structural stiffness to be programmable for meeting diverse interaction requirements. [13][14][15][16] Recently, researchers have presented several stimuli-response materials that can achieve mechanical responses under the action of external fields, [17][18][19][20] such as light, [21] magnetic, [22,23] and electric fields. [24] Utilizing this distinctive feature of advanced materials, such as dielectric elastomers (DEs), [25][26][27] low-melting-point alloys (LMPAs), [28][29][30] and shape memory polymers (SMPs) [31][32][33][34][35] to construct soft machines, can endow them with tunable structural stiffness.…”

mentioning

confidence: 99%

Synergizing Structural Stiffness Regulation with Compliance Contact Stiffness: Bioinspired Soft Stimuli‐Responsive Materials Design for Soft Machines

Ma,

Zhang,

Sun

et al. 2024

Adv Eng Mater

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Stiffness regulation strategies endow soft machines with stronger functionality to cope with diverse application requirements, for example manipulating heavy items by improving structural stiffness. However, most programmable stiffness strategies usually struggle to preserve the inherent compliant interaction capabilities following an enhancement in structural stiffness. In this study, inspired by the musculocutaneous system, we propose a soft stimuli‐responsive material (SRM) by combining shape memory alloy (SMA) into compliant materials. By characterizing the mechanical performance, the flexural modulus increases from 6.6 to 142.4 MPa under the action of active stimuli, crossing two orders of magnitude, while Young’s modulus stays at 2.2 MPa during programming structural stiffness. This comparative result indicates that our SRMs can keep a lower contact stiffness for compliant interaction although structural stiffness increases. Then, we develop three diverse soft machines to show the application potential of this smart material, such as robotic grippers, wearable devices, and deployable mechanisms. By applying our materials, these machines possess stronger load‐bearing capabilities. Meanwhile, these demonstrations also illustrate the efficacy of this paradigm in regulating the structural stiffness of soft machines while maintaining their compliant interaction capabilities.This article is protected by copyright. All rights reserved.

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“…Additionally, fiber jamming and layer jamming techniques are presented as viable solutions for stiffness change [11][12] [13]. In fact, the most recent development shows that inserting disks into the continuum robot can allow for stiffness change [5]. However, it is important to note that these curvature changes are currently limited in terms of the number of sections on the continuum robot or locking mechanism used, as they are limited in a discrete fashion.…”

Section: Introductionmentioning

confidence: 99%

Dynamics Modeling and Verification of Parallel Extensible Soft Robot Based on Cosserat Rod Theory

Wang

et al. 2022

2022 IEEE 18th International Conference on Automation Science and Engineering (CASE)

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This paper introduces a Cosserat rod based mathematical model for modeling a self-controllable variable curvature soft continuum robot. This soft continuum robot has a hollow inner channel and was developed with the ability to perform variable curvature utilizing a growing spine. The growing spine is able to grow and retract while modifies its stiffness through milli-size particle (glass bubble) granular jamming. This soft continuum robot can then perform continuous curvature variation, unlike previous approaches whose curvature variation is discrete and depends on the number of locking mechanisms or manual configurations. The robot poses an emergent modeling problem due to the variable stiffness growing spine which is addressed in this paper. We investigate the property of growing spine stiffness and incorporate it into the Cosserat rod model by implementing a combined stiffness approach. We conduct experiments with the soft continuum robot in various configurations and compared the results with our developed mathematical model. The results show that the mathematical model based on the adapted Cosserat rod matches the experimental results with only a 3.3% error with respect to the length of the soft continuum robot.

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Inspired by Physical Intelligence of an Elephant Trunk: Biomimetic Soft Robot With Pre-Programmable Localized Stiffness

Cited by 16 publications

References 40 publications

Research progress of automatic grasping methods for garment fabrics

Research progress of automatic grasping methods for garment fabrics

Synergizing Structural Stiffness Regulation with Compliance Contact Stiffness: Bioinspired Soft Stimuli‐Responsive Materials Design for Soft Machines

Dynamics Modeling and Verification of Parallel Extensible Soft Robot Based on Cosserat Rod Theory

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