Intuitive Control of Humanoid Soft-Robotic Hand BCL-13

Zhou, Jianshu; Chen, Xiaojiao; Chang, Ukyoung; Pan, Jia; Wang, Wenping; Wang, Zheng

doi:10.1109/humanoids.2018.8624947

Cited by 17 publications

(9 citation statements)

References 22 publications

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“…In Feng et al ( 2018 ), a soft robotic hand is introduced, where each single finger has a three-stage cavity structure. Another soft robotic hand is BCL-13, presented in Zhou et al ( 2018 ). It has 13 Degrees of Freedom (DOF) with four fingers and solenoid valve actuators, and represents an intuitive grasping control approach.…”

Section: Introductionmentioning

confidence: 99%

Test Bench for Evaluation of a Soft Robotic Link

et al. 2020

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In this paper we describe the control approaches tested in the improved version of an existing soft robotic neck with two Degrees Of Freedom (DOF), able to achieve flexion, extension, and lateral bending movements similar to those of a human neck. The design is based on a cable-driven mechanism consisting of a spring acting as a cervical spine and three servomotor actuated tendons that let the neck to reach all desired postures. The prototype was manufactured using a 3D printer. Two control approaches are proposed and tested experimentally: a motor position approach using encoder feedback and a tip position approach using Inertial Measurement Unit (IMU) feedback, both applying fractional-order controllers. The platform operation is tested for different load configurations so that the robustness of the system can be checked.

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Section: Introductionmentioning

confidence: 99%

Test Bench for Evaluation of a Soft Robotic Link

et al. 2020

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“…4 (c) and (d) . The grasping force can be adjusted and controlled by the magnitude of the applied positive pressure [30] , [31] . The hybrid soft gripper provides merits of lightweight, easy control, high compliance and robustness for swab grasping and releasing.…”

Section: Overall Tele-operated Oropharyngeal Swab (Toos) Robot Designmentioning

confidence: 99%

“…The length of centerline \documentclass[12pt]{minimal} \usepackage{amsmath} \usepackage{wasysym} \usepackage{amsfonts} \usepackage{amssymb} \usepackage{amsbsy} \usepackage{upgreek} \usepackage{mathrsfs} \setlength{\oddsidemargin}{-69pt} \begin{document} }{}$l$ \end{document} is the average length of the three driven cables. The curvature and place can be calculated by the trigonometric relationship [30] , [31] . Then, the configuration space parameter \documentclass[12pt]{minimal} \usepackage{amsmath} \usepackage{wasysym} \usepackage{amsfonts} \usepackage{amssymb} \usepackage{amsbsy} \usepackage{upgreek} \usepackage{mathrsfs} \setlength{\oddsidemargin}{-69pt} \begin{document} }{}$\mathbf {q} = (\alpha, \beta, l) \in \{\mathbf {q}\}$ \end{document} can be expressed by the actuator space parameter \documentclass[12pt]{minimal} \usepackage{amsmath} \usepackage{wasysym} \usepackage{amsfonts} \usepackage{amssymb} \usepackage{amsbsy} \usepackage{upgreek} \usepackage{mathrsfs} \setlength{\oddsidemargin}{-69pt} \begin{document} }{}$\mathbf {a} = (l_{1}, l_{2}, l_{3}) \in \{\mathbf {a}\}$ \end{document} as: \documentclass[12pt]{minimal} \usepackage{amsmath} \usepackage{wasysym} \usepackage{amsfonts} \usepackage{amssymb} \usepackage{amsbsy} \usepackage{upgreek} \usepackage{mathrsfs} \setlength{\oddsidemargin}{-69pt} \begin{document} }{}\begin{align*} \alpha=&\tan ^{-1}\left ({\frac {l_{1} + l_{3} - 2l_{2}}{\sqrt {3}\left ({l_{1} - l_{3}}\right)}}\right) \\ \beta=&\frac {\sqrt {l_{1}^{2} + l_{2}^{2} + l_{3}^ {2} - l_{1}l_{2} - l_{1}l_{3}-l_{2}l_{3}}}{d\left ({l_{1} + l_{2} + l_{3}}\right)} \\ l=&\frac {l_{1} + l_{2} + l_{3}}{3}\tag{1}\end{align*} \end{document} …”

Section: Tss Hand Modelingmentioning

confidence: 99%

Tele-Operated Oropharyngeal Swab (TOOS) Robot Enabled by TSS Soft Hand for Safe and Effective Sampling

Chen

Zhou

Cheng

et al. 2021

IEEE Trans. Med. Robot. Bionics

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The COVID-19 pandemic has imposed serious challenges in multiple perspectives of human life. To diagnose COVID-19, oropharyngeal swab (OP SWAB) sampling is generally applied for viral nucleic acid (VNA) specimen collection. However, manual sampling exposes medical staff to a high risk of infection. Robotic sampling is promising to mitigate this risk to the minimum level, but traditional robot suffers from safety, cost, and control complexity issues for wide-scale deployment. In this work, we present soft robotic technology is promising to achieve robotic OP swab sampling with excellent swab manipulability in a confined oral space and works as dexterous as existing manual approach. This is enabled by a novel Tstone soft (TSS) hand, consisting of a soft wrist and a soft gripper, designed from human sampling observation and bio-inspiration. TSS hand is in a compact size, exerts larger workspace, and achieves comparable dexterity compared to human hand. The soft wrist is capable of agile omnidirectional bending with adjustable stiffness. The terminal soft gripper is effective for disposable swab pinch and replacement. The OP sampling force is easy to be maintained in a safe and comfortable range (throat sampling comfortable region) under a hybrid motion and stiffness virtual fixture-based controller. A dedicated 3 DOFs RCM platform is used for TSS hand global positioning. Design, modeling, and control of the TSS hand are discussed in detail with dedicated experimental validations. A sampling test based on human tele-operation is processed on the oral cavity model with excellent success rate. The proposed TOOS robot demonstrates a highly promising solution for tele-operated, safe, cost-effective, and quick deployable COVID-19 OP swab sampling.

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“…4 (c) and (d). The grasping force can be adjusted and controlled by the magnitude of the applied positive pressure [29], [30]. The hybrid soft gripper provides merits of lightweight, easy control, high compliance and robustness for swab grasping and releasing.…”

Section: Tss Hand Designmentioning

confidence: 99%

Tele-Operated Oropharyngeal Swab (TOOS) RobotEnabled by TSS Soft Hand for Safe and EffectiveCOVID-19 OP Sampling

Chen,

Zhou,

Cheng

et al. 2021

Preprint

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The COVID-19 pandemic has imposed serious challenges in multiple perspectives of human life. To diagnose COVID-19, oropharyngeal swab (OP SWAB) sampling is generally applied for viral nucleic acid (VNA) specimen collection. However, manual sampling exposes medical staff to a high risk of infection. Robotic sampling is promising to mitigate this risk to the minimum level, but traditional robot suffers from safety, cost, and control complexity issues for wide-scale deployment. In this work, we present soft robotic technology is promising to achieve robotic OP swab sampling with excellent swab manipulability in a confined oral space and works as dexterous as existing manual approach. This is enabled by a novel Tstone soft (TSS) hand, consisting of a soft wrist and a soft gripper, designed from human sampling observation and bio-inspiration. TSS hand is in a compact size, exerts larger workspace, and achieves comparable dexterity compared to human hand. The soft wrist is capable of agile omnidirectional bending with adjustable stiffness. The terminal soft gripper is effective for disposable swab pinch and replacement. The OP sampling force is easy to be maintained in a safe and comfortable range (throat sampling comfortable region) under a hybrid motion and stiffness virtual fixture-based controller. A dedicated 3 DOFs RCM platform is used for TSS hand global positioning. Design, modeling, and control of the TSS hand are discussed in detail with dedicated experimental validations. A sampling test based on human teleoperation is processed on the oral cavity model with excellent success rate. The proposed TOOS robot demonstrates a highly promising solution for tele-operated, safe, cost-effective, and quick deployable COVID-19 OP swab sampling.

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Intuitive Control of Humanoid Soft-Robotic Hand BCL-13

Cited by 17 publications

References 22 publications

Test Bench for Evaluation of a Soft Robotic Link

Test Bench for Evaluation of a Soft Robotic Link

Tele-Operated Oropharyngeal Swab (TOOS) Robot Enabled by TSS Soft Hand for Safe and Effective Sampling

Tele-Operated Oropharyngeal Swab (TOOS) RobotEnabled by TSS Soft Hand for Safe and EffectiveCOVID-19 OP Sampling

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