Soft fluidic rotary actuator with improved actuation properties

Fraś, Jan; Noh, Yohan; Würdemann, Helge A.; Althoefer, Kaspar

doi:10.1109/iros.2017.8206448

Cited by 35 publications

(30 citation statements)

References 11 publications

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“…Several groups have concentrated on improving the performance of such actuators, aiming to control radial expansion 25 or redirect deformation 26,27 under applied pressure. Vacuums have also been employed to create strong contraction with minimal change in actuator radius 28 (Fig.…”

Section: Soft Actuationmentioning

confidence: 99%

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Untethered soft robotics

2018

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Research in soft matter engineering has introduced new approaches in robotics and wearable devices that can interface with the human body and adapt to unpredictable environments. However, many promising applications are limited by the dependence of soft systems on electrical or pneumatic tethers. Recent work in soft actuation and electronics has made removing such cords more feasible, heralding a variety of applications from autonomous field robotics to wireless biomedical devices. Here we review the development of functional untethered soft robotics. We focus on recent advances in soft robotic actuation, sensing and integration as they relate to untethered systems, and consider the key challenges the field faces in engineering systems that could have practical use in real-world conditions.

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Section: Soft Actuationmentioning

confidence: 99%

“…Additionally, control systems have been developed in tandem with advancements in the mechanical properties of pneumatic muscles, with many groups incorporating pneumatic or liquid-metal microfluidic sensors into these actuators 17,[24][25][26] .…”

Section: Nature Electronicsmentioning

confidence: 99%

Untethered soft robotics

2018

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“…In previous research, we have shown that finite rotary joints can be Fig. 3: Structure of the hand made using only soft materials [9], but we found such a solution not applicable in that case due to excessive size and the need of using separate actuator for each joint. Using such actuators would make the design and the manufacturing unnecessarily too complex.…”

Section: Hand Structurementioning

confidence: 96%

Soft Pneumatic Prosthetic Hand

Fraś

Althoefer

2018

Towards Autonomous Robotic Systems

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Conventional prosthetic devices are heavy, expensive and rigid. They are complex, fragile and require sophisticated control strategies in order to deal with the grasping and manipulation tasks. In this paper, we propose a new pneumatic soft prosthetic hand that is very simple to control due to its compliant structure and cheap in production. It is designed to be easily reshaped and resized to adapt easily to each individual user preferences. It is designed to be frequently changed whenever a child patient requires a bigger size or whenever the old one is worn out or broken. Since it is soft and compliant it can be safely used even by small children without a risk of harmful mechanical interaction.

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“…The bending motion of the actuator results from different types of elasticity of its layers and its direction can be changed in some range by pressurizing the chamber sections with different pressure values. Previously presented actuators that maximized the actuation chamber cross-section area don't have the ability to change the fixed bending plane [14], [16]- [18]. Other actuators that are capable of the bending plane control are usually divided in several actuation chambers and bend due to unsymmetrical actuation.…”

Section: B the Armmentioning

confidence: 99%

Bio-Inspired Octopus Robot Based on Novel Soft Fluidic Actuator

Fraś

Noh

Maciaś

et al. 2018

2018 IEEE International Conference on Robotics and Automation (ICRA)

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Many modern roboticists take inspiration from biology to create novel robotic structures, including those that are modeled after the octopus. This paper advances this trend by creating soft robots modeling the complex motion patterns of octopus tentacles employing a bio-mimetic approach. The proposed octopus robot is entirely made from soft material and uses a novel fluidic actuation mechanism that allows the robot to advance forward, change directions and rotate around its primary axis. The paper presents the robot's design and fabrication process. An experimental study is conducted showing the feasibility of the proposed robot and actuation mechanism.

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Soft fluidic rotary actuator with improved actuation properties

Cited by 35 publications

References 11 publications

Untethered soft robotics

Untethered soft robotics

Soft Pneumatic Prosthetic Hand

Bio-Inspired Octopus Robot Based on Novel Soft Fluidic Actuator

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