Multimode Grasping Soft Gripper Achieved by Layer Jamming Structure and Tendon-Driven Mechanism

Fang, Bin; Sun, Fuchun; Wu, Linyuan; Liu, Fukang; Wang, Xiangxiang; Huang, Haiming; Huang, Wenbing; Liu, Huaping; Wen, Li

doi:10.1089/soro.2020.0065

Cited by 60 publications

(25 citation statements)

References 42 publications

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“…T ws  Nq (7) where w is the generalized displacement vector at any point of the section; N is the shape function matrix [21] ; q is the generalized node angular displacement of the element; For n-order beam finite element, the equations are written as…”

Section: ()mentioning

confidence: 99%

“…Sylvain Abondance et al demonstrate the utility of a dexterous soft robotic hand in three real-world cases: unscrewing the cap of a jar, orienting food items for packaging, and gravity compensation during grasping [6] . Bin Fang et al proposed a soft gripper with multiple grasping modes, including wrap, pinch, hook, and suck [7] . Li Haili et al presented an untethered soft pneumatic gripper with a high payload by developing a soft gripping structure with a high gripping force to pressure ratio [8] .…”

Section: Introductionmentioning

confidence: 99%

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Deformation estimation of Soft Pneumatic Actuators under external force baesd on experimental nonlinear Euler-Bernoulli beam

Li¹,

Lai²,

Tang³

2022

Preprint

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Soft pneumatic actuators(SPAs) can be adapted to grasp objects of different shapes, and it is helpful to estimate the SPA's deformation under external force, but their low stiffness bring signifcant challenges to the experimental characterization and modeling of their statics. Aiming at achieving the target of estimating SPA's deformation through establishing relation models between external force, air pressure, and SPA's deformation, a practical and straightforward estimation method is proposed in this paper. The nonlinear Euler-Bernoulli beam(NEBB) is applied, the SPA is simplified as a nonlinear cantilever beam, and the complex internal air pressure effect is equivalent to the external moment to analyze the SPA's deformation. The proposed nonlinear beam SPA method and finite element method(FEA) are compared with the experimental data, respectively, and the estimated deformation curves of proposed nonlinear beam SPA method agree well with the experimental results than FEA. It is shown that SPA's deformation can be estimated accurately through the proposed method. The study establishes a nonlinear beam SPA method baesd on nonlinear Euler-Bernoulli beam to estimate the SPA's deformation under external force and can potentially be used to analyze various SPAs’s mechanical property.

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Section: ()mentioning

confidence: 99%

Section: Introductionmentioning

confidence: 99%

Deformation estimation of Soft Pneumatic Actuators under external force baesd on experimental nonlinear Euler-Bernoulli beam

Li¹,

Lai²,

Tang³

2022

Preprint

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“…Some researchers have applied layer-jamming structures as described above to significantly improve the stiffness of soft actuators (Fang et al, 2021a(Fang et al, , 2021b. However, in almost all soft actuators with jamming structures, the actuating structures and jamming structures are separated.…”

Section: Introductionmentioning

confidence: 99%

Soft actuator using sponge units with constrained film and layer jamming

Liu

Liang

2022

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Purpose This paper aims to propose a soft actuator that combines a sponge-based actuating structure and a layer-jamming-based stiffness-improving structure in a cavity. Design/methodology/approach The proposed soft actuator consists of film-constrained sponge units (FCSUs) and jamming layers. The FCSUs in the proposed soft actuator bend under vacuum pressure, causing bending deformation of the entire actuator. The jamming layers are strongly coupled through friction under vacuum pressure, increasing the stiffness of the entire actuator. The performance of the proposed soft actuator was examined by measuring its stiffness, bending deformation and response performance. A four-finger soft robotic gripper was proposed based on the proposed soft actuator. Findings Through experiments, it was shown that the proposed soft actuator exhibited acceptable bending deformation, stiffness and response. Moreover, the proposed four-finger soft gripper could effectively grasp objects in daily life. Originality/value In this study, the authors proposed a novel bending actuator (with a volume of approximately 43.2 cm3) based on FCSUs and jamming layers. To the best of the authors’ knowledge, this is the first study to combine a sponge-based actuating structure and a layer-jamming structure in a cavity to achieve simultaneous change in actuation and stiffness. The soft actuator exhibited good bending deformation and high stiffness simultaneously under vacuum pressure. Consequently, it could be used effectively to fabricate soft grippers.

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“…Grippers made of flexible and soft components also overcome the inability of a rigid gripper to achieve soft contacts and safe interactions [8]- [10]. Nevertheless, most current soft grippers have only one single grasping mode, which causes difficulty in grasping objects with the different geometric and physical features needed to fulfill various robot tasks [11]. Although great progress has been made in the mechanical design and robust control of such grippers, they have limited ability to grasp and manipulate objects autonomously due to the lack of a combination of grasping approaches.…”

Section: Introductionmentioning

confidence: 99%

Hybrid Robotic Grasping with a Soft Multimodal Gripper and a Deep Multistage Learning Scheme

Liu,

Sun,

Fang

et al. 2022

Preprint

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Grasping has long been considered an important and practical task in robotic manipulation. Yet achieving robust and efficient grasps of diverse objects is challenging, since it involves gripper design, perception, control and learning, etc. Recent learning-based approaches have shown excellent performance in grasping a variety of novel objects. However, these methods either are typically limited to one single grasping mode, or else more end effectors are needed to grasp various objects. In addition, gripper design and learning methods are commonly developed separately, which may not adequately explore the ability of a multimodal gripper. In this paper, we present a deep reinforcement learning (DRL) framework to achieve multistage hybrid robotic grasping with a new soft multimodal gripper. A soft gripper with three grasping modes (i.e., enveloping, sucking, and enveloping then sucking) can both deal with objects of different shapes and grasp more than one object simultaneously. We propose a novel hybrid grasping method integrated with the multimodal gripper to optimize the number of grasping actions. We evaluate the DRL framework under different scenarios (i.e., with different ratios of objects of two grasp types). The proposed algorithm is shown to reduce the number of grasping actions (i.e., enlarge the grasping efficiency, with maximum values of 161% in simulations and 154% in real-world experiments) compared to single grasping modes.

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Multimode Grasping Soft Gripper Achieved by Layer Jamming Structure and Tendon-Driven Mechanism

Cited by 60 publications

References 42 publications

Deformation estimation of Soft Pneumatic Actuators under external force baesd on experimental nonlinear Euler-Bernoulli beam

Deformation estimation of Soft Pneumatic Actuators under external force baesd on experimental nonlinear Euler-Bernoulli beam

Soft actuator using sponge units with constrained film and layer jamming

Hybrid Robotic Grasping with a Soft Multimodal Gripper and a Deep Multistage Learning Scheme

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