Piecewise Linear Strain Cosserat Model for Soft Slender Manipulator

Li, Haihong; Xun, Lingxiao; Zheng, Gang

doi:10.1109/tro.2023.3236942

Cited by 13 publications

(4 citation statements)

References 47 publications

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“…As a result, researchers have been exploring alternative representations that more effectively preserve the continuity conditions of the deformable continuums. Examples of alternative representations of bases include piecewise linear [116], affine curvature [117], [118], Fourier cosine/sine series [112], [119], Legendre or Chebyshev [79], [114], and actuation load bases [80]. The Sorotoki package offers access to a library of anonymous functions, facilitating the utilization of a range of basis functions.…”

Section: ) Library Of Modal Strain Basesmentioning

confidence: 99%

Sorotoki: A Matlab Toolkit for Design, Modeling, and Control of Soft Robots

Caasenbrood,

Pogromsky,

Nijmeijer

2024

IEEE Access

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In this paper, we present Sorotoki, an open-source toolkit in MATLAB that offers a comprehensive suite of tools for the design, modeling, and control of soft robots. The complexity involved in researching and building soft robots often stems from the interconnectedness of design and control aspects, which are rarely addressed together as a unified problem. To address the complex interdependencies in soft robotics, the Sorotoki toolkit provides a comprehensive and modular programming environment composed of seven Object-Oriented classes. These classes are designed to work together to solve a wide range of soft robotic problems, offering versatility and flexibility for its users. We provide a comprehensive overview of the Sorotoki software architecture to highlight its usage and applications. The details and interconnections of each module are thoroughly described, collectively explaining how to gradually introduce modeling complexity for various soft robotic scenarios. The effectiveness of Sorotoki is also demonstrated through a range of case studies, including novel problem scenarios and established works widely recognized in the soft robotics community. These case studies cover a broad range of research problems, including: inverse design of soft actuators, passive and active soft locomotion, object manipulation with soft grippers, meta-materials, model reduction, model-based control of soft robots, and shape estimation. Additionally, the toolkit provides access to four open-hardware soft robotic systems that can be fabricated using commercially available 3D printers. For more information about Sorotoki, readers are encouraged to visit: https://bjcaasenbrood.github.io/SorotokiCode/ INDEX TERMS Soft robotics, software, design, modeling, control, matlab

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Section: ) Library Of Modal Strain Basesmentioning

confidence: 99%

Sorotoki: A Matlab Toolkit for Design, Modeling, and Control of Soft Robots

Caasenbrood,

Pogromsky,

Nijmeijer

2024

IEEE Access

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“…For a comprehensive study on the modeling of continuum robots, see [25,26]. [23] Cosserat Linear × × 7% Wang et al [27] Cosserat Linear × -Dou et al [28] Euler-Bernoulli Linear × Less than 8% Huang et al [29] Variable Curvature Linear × × 2.89% Niu et al [30] Cosserat Linear × × Less than 4% Ghoreishi et al [31] Euler-Bernoulli Linear × -Li et al [32] Cosserat Linear × Less than 5% Caasenbrood et al [33] Piece-wise Constant Curvature Non-Linear × RMS error was ±0.55…”

Section: Related Studiesmentioning

confidence: 99%

Hyperelastic Modeling and Validation of Hybrid-Actuated Soft Robot with Pressure-Stiffening

et al. 2023

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Soft robots have gained popularity, especially in intraluminal applications, because their soft bodies make them safer for surgical interventions than flexures with rigid backbones. This study investigates a pressure-regulating stiffness tendon-driven soft robot and provides a continuum mechanics model for it towards using that in adaptive stiffness applications. To this end, first, a central single-chamber pneumatic and tri-tendon-driven soft robot was designed and fabricated. Afterward, the classic Cosserat’s rod model was adopted and augmented with the hyperelastic material model. The model was then formulated as a boundary-value problem and was solved using the shooting method. To identify the pressure-stiffening effect, a parameter-identification problem was formulated to identify the relationship between the flexural rigidity of the soft robot and internal pressure. The flexural rigidity of the robot at various pressures was optimized to match theoretical deformation and experiments. The theoretical findings of arbitrary pressures were then compared with the experiment for validation. The internal chamber pressure was in the range of 0 to 40 kPa and the tendon tensions were in the range of 0 to 3 N. The theoretical and experimental findings were in fair agreement for tip displacement with a maximum error of 6.40% of the flexure’s length.

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“…Meng et al [66] Lagrange formula settle out to 0 length and velocity Mustaza et al [67] Lagrange formula <5% Position, length, angle Godage et al [68] Lagrange formula ~0.02% Length Mishra et al [72] Cosserat-rod theory settle out to 0 Angles Trivedi et al [73] Cosserat rod theory ~5% Length, angles Godage et al [74] Lagrange formula 11% Length Sofla et al [75] Lagrange formula 7% Angles, position Wang et al [76] Deflection theorem <8.5% Angles, length Pourghasemi et al [80] Cosserat rod theory 1.27% Position, angles Li et al [81] Cosserat rod theory 5.4% Position Alessi et al [82] Cosserat rod theory 4.83% Length Furthermore, our study supports Li et al's [81] proposed resolution of differentially experimental postulations intrinsic to the Cosserat Rod framework using the piecewise linear deformation method. This approach can be adeptly applied to a pliable, slender, manipulative construct.…”

Section: Author Theoretical Basis Relative Error Object Of Studymentioning

confidence: 99%

Design, Modelling, and Control of Continuum Arms with Pneumatic Artificial Muscles: A Review

Sokolov,

Hošovský,

Trojanová

2023

Machines

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In this research paper, we present a comprehensive analysis of the current state of soft robots actuated with pneumatic artificial muscles and emphasise their distinct advantages over rigid robots, including exceptional flexibility, adaptability, and safety. Our study explores the design principles of soft robots, drawing inspiration from biological systems and human hands, and identifies promising avenues for further development. The emergence of hybrid robots is also recognised as a significant advancement, particularly in scenarios requiring high precision. The article explores mathematical models encompassing kinematics, dynamics, and statics, as well as alternative model-free approaches. These theoretical frameworks are instrumental in understanding and manipulating the behaviour of soft robots. However, despite substantial progress, soft robots’ practical application and simulation face limitations, primarily due to the demanding requirements and implementation challenges associated with their deployment. Consequently, this paper highlights the need for continued research and advancements to bridge the gap between the theoretical potential and practical utilisation of soft robots.

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Piecewise Linear Strain Cosserat Model for Soft Slender Manipulator

Cited by 13 publications

References 47 publications

Sorotoki: A Matlab Toolkit for Design, Modeling, and Control of Soft Robots

Sorotoki: A Matlab Toolkit for Design, Modeling, and Control of Soft Robots

Hyperelastic Modeling and Validation of Hybrid-Actuated Soft Robot with Pressure-Stiffening

Design, Modelling, and Control of Continuum Arms with Pneumatic Artificial Muscles: A Review

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