MCSG: A Morphology Configurable Soft Gripper With Self-Adaption Modular Composite Finger

Huang, Haiming; Tang, Shijie; Chai, Weidong; Sun, Fuchun; Wu, Dong Ho; Miao, Shengyi; Zhong, Daming; Hou, Haobin; Dong, Mingjie

doi:10.1109/tie.2023.3243294

Cited by 4 publications

(1 citation statement)

References 37 publications

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“…The rapid growth of soft robotics in the past decade is driven by their versatile applications in various fields, such as assisting surgeons, taking care of elderly people [1,2], aiding rehabilitation [3], and enhancing manipulation capabilities [4]. Soft robots significantly differ from their traditional rigid counterparts, demanding innovative solutions across a wide spectrum, encompassing sensors, actuators, and control techniques.…”

Section: Introductionmentioning

confidence: 99%

Design, Manufacturing, and Open-Loop Control of a Soft Pneumatic Arm

García-Samartín,

Rieker,

Barrientos

2024

Actuators

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Soft robots distinguish themselves from traditional robots by embracing flexible kinematics. Because of their recent emergence, there exist numerous uncharted territories, including novel actuators, manufacturing processes, and advanced control methods. This research is centred on the design, fabrication, and control of a pneumatic soft robot. The principal objective is to develop a modular soft robot featuring multiple segments, each one with three degrees of freedom. This yields a tubular structure with five independent degrees of freedom, enabling motion across three spatial dimensions. Physical construction leverages tin-cured silicone and a wax-casting method, refined through an iterative processes. PLA moulds that are 3D-printed and filled with silicone yield the desired model, while bladder-like structures are formed within using solidified paraffin wax-positive moulds. For control, an empirically fine-tuned open-loop system is adopted. This paper culminates in rigorous testing. Finally, the bending ability, weight-carrying capacity, and possible applications are discussed.

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Section: Introductionmentioning

confidence: 99%

Design, Manufacturing, and Open-Loop Control of a Soft Pneumatic Arm

García-Samartín,

Rieker,

Barrientos

2024

Actuators

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Empowering Particle Jamming Soft Gripper with Tactility via Stretchable Optoelectronic Sensing Skin

Mo,

Xie,

et al. 2024

Advanced Intelligent Systems

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Particle‐jamming soft grippers demonstrate notable shape adaptability and adjustable stiffness, which improve their grasping efficiency. However, integrating tactile sensing into these grippers presents challenges due to the specific properties of the particle jamming mechanism. This study introduces a parallel particle jamming soft gripper equipped with tactile sensing capabilities. The gripper consists of two tactile sensing particle jamming pads (TSPJPs) that are integrated with flexible optoelectronic skins. These skins are made of silicone rubber membranes and are embedded with a 3 × 3 array of stretchable optical waveguide arrays (SOWAs). Testing indicates that incorporating these sensors enhances the gripper's tactile sensing capabilities, with minimal impact on its particle jamming‐based grasping function. A single TSPJP can accurately detect various contact points and estimate the contract forces. The proposed soft gripper can reliably grasp a wide range of objects, varying in shape, hardness, and weight, and it provides detailed tactile feedback on contact locations and the intensity of the grasping through the SOWA sensor. It can precisely distinguish between different grasping postures using a light gradient boosting machine (LightGBM) learning model. Furthermore, it can effectively detect the slippage of grasped objects, facilitating accurate closed‐loop control for secure manipulation.

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Variable stiffness soft robotic gripper: design, development, and prospects

Shan,

Zhao,

Wang

et al. 2023

Bioinspir. Biomim.

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The advent of variable stiffness soft robotic grippers furnishes a conduit for exploration and manipulation within uncharted, non-structured environments. The paper provides a comprehensive review of the necessary technologies for the configuration design of soft robotic grippers with variable stiffness, serving as a reference for innovative gripper design. The design of variable stiffness soft robotic grippers typically encompasses the design of soft robotic grippers and variable stiffness modules.To adapt to unfamiliar environments and grasp unknown objects, a categorization and discussion have been undertaken based on the contact and motion manifestations between the gripper and the things across various dimensions: points contact (PC), lines contact (LC), surfaces contact (SC), and full-bodies contact (FBC), elucidating the advantages and characteristics of each gripping type. Furthermore, when designing soft robotic grippers, we must consider the effectiveness of object grasping methods but also the applicability of the actuation in the target environment. The actuation is the propelling force behind the gripping motion, holding utmost significance in shaping the structure of the gripper. Given the challenge of matching the actuation of robotic grippers with the target scenario, we reviewed the actuation of soft robotic grippers. We analyzed the strengths and limitations of various soft actuation, providing insights into the actuation design for soft robotic grippers. As a crucial technique for variable stiffness soft robotic grippers, variable stiffness technology can effectively address issues such as poor load-bearing capacity and instability caused by the softness of materials. Through a retrospective analysis of variable stiffness theory, we comprehensively introduce the development of variable stiffness theory in soft robotic grippers and showcase the application of variable stiffness grasping technology through specific case studies. Finally, we discuss the future prospects of variable stiffness grasping robots from several perspectives of applications and technologies.

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MCSG: A Morphology Configurable Soft Gripper With Self-Adaption Modular Composite Finger

Cited by 4 publications

References 37 publications

Design, Manufacturing, and Open-Loop Control of a Soft Pneumatic Arm

Design, Manufacturing, and Open-Loop Control of a Soft Pneumatic Arm

Empowering Particle Jamming Soft Gripper with Tactility via Stretchable Optoelectronic Sensing Skin

Variable stiffness soft robotic gripper: design, development, and prospects

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