Soft Pneumatic Actuator with Bimodal Bending Response Using a Single Pressure Source

Ellis, David R.; Venter, Martin Philip; Venter, Gerhard

doi:10.1089/soro.2020.0017

Cited by 14 publications

(6 citation statements)

References 14 publications

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“…Conversely, if the shell of the OASS is made of stiff material, the elastic range is usually small. [ 37,60 ]…”

Section: Resultsmentioning

confidence: 99%

“…Conversely, if the shell of the OASS is made of stiff material, the elastic range is usually small. [37,60] Thus, in this study, we used an SP as the primary material for modules and robots. Using the composite material, both the elastic range and resilience of the structure are enhanced (the details are provided in the next section).…”

Section: Characterization Of the Oassmentioning

confidence: 99%

See 1 more Smart Citation

Soft Robots for Cluttered Environments Based on Origami Anisotropic Stiffness Structure (OASS) Inspired by Desert Iguana

Zhu

Fan

et al. 2023

Advanced Intelligent Systems

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Compared to many rigid robots, emerging soft robots possess higher adaptability and safety owing to their compliance, [1,2] making them a promising solution for human-robot interaction, [3,4] manipulation, [5,6] and search and rescue. [7] Instead of only having one state (soft or rigid) in a robot, many scenarios necessitate both soft and rigid properties. For example, when picking an item of varying softness, shape, and weight using various motions, such as grasping and fiddling, a packaging robot should be rigid enough to grasp heavy items but soft enough to grasp fragile or irregular items while also being capable of quickly switching between these two states. [2,8,9] While exploring dangerous and confined environments (e.g., post-earthquake rescue and industrial pipeline inspection), the robot should be sufficiently compliant to adapt to the cluttered environment and rigid to transport a large gap. [10,11] Moreover, if a robot approaches a rugged surface with a heavy payload, it should be sufficiently compliant to move on the surface and rigid to support the payload. [12,13] To circumvent this problem, researchers attempted to integrate rigid and soft robots. One approach is to convert a robot from a rigid to a soft state and vice versa, which requires a variable-stiffness mechanism. This mechanism has been widely used in wearable robots, [14] manipulators, [7,15] and continuum

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“…Conversely, if the shell of the OASS is made of stiff material, the elastic range is usually small. [ 37,60 ]…”

Section: Resultsmentioning

confidence: 99%

Section: Characterization Of the Oassmentioning

confidence: 99%

Soft Robots for Cluttered Environments Based on Origami Anisotropic Stiffness Structure (OASS) Inspired by Desert Iguana

Zhu

Fan

et al. 2023

Advanced Intelligent Systems

View full text Add to dashboard Cite

show abstract

“…Silicone elastomers and other polymers used in soft robotics literature, as well as the corresponding number of citations. For this graph, 45 articles were examined: Ecoflex [198][199][200][201][202][203][204][205], Dragon Skin 10/20/30/FX-Pro [206][207][208][209][210][211][212][213][214][215][216][217][218][219][220][221][222][223][224][225], Elastosil M4601 [199,202,218,[226][227][228][229], PDMS [198,208,[230][231][232][232][233][234], Smooth-Sil [200,207,209,218,222,…”

Section: Figurementioning

confidence: 99%

Soft Grippers for Automatic Crop Harvesting: A Review

Navas

Fernández

Sepúlveda

et al. 2021

Sensors

119

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Agriculture 4.0 is transforming farming livelihoods thanks to the development and adoption of technologies such as artificial intelligence, the Internet of Things and robotics, traditionally used in other productive sectors. Soft robotics and soft grippers in particular are promising approaches to lead to new solutions in this field due to the need to meet hygiene and manipulation requirements in unstructured environments and in operation with delicate products. This review aims to provide an in-depth look at soft end-effectors for agricultural applications, with a special emphasis on robotic harvesting. To that end, the current state of automatic picking tasks for several crops is analysed, identifying which of them lack automatic solutions, and which methods are commonly used based on the botanical characteristics of the fruits. The latest advances in the design and implementation of soft grippers are also presented and discussed, studying the properties of their materials, their manufacturing processes, the gripping technologies and the proposed control methods. Finally, the challenges that have to be overcome to boost its definitive implementation in the real world are highlighted. Therefore, this review intends to serve as a guide for those researchers working in the field of soft robotics for Agriculture 4.0, and more specifically, in the design of soft grippers for fruit harvesting robots.

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“…The pneumatic module I at the root of the actuator adopts a slow pneumatic network (SPN), while the module II at the tip adopts a fast pneumatic network (FPN). The two pneumatic networks were named by Mosadegh et al [ 30 , 31 , 32 ]. Due to having different structures, the two pneumatic modules present different deformation behaviors.…”

Section: The Newly Proposed Soft Pneumatic Actuatormentioning

confidence: 99%

Design, Fabrication, and Performance Test of a New Type of Soft-Robotic Gripper for Grasping

Zhang

Liu

et al. 2022

Sensors

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This investigation presents a novel soft-robotic pneumatic gripper that consists of three newly proposed soft actuators. The newly proposed soft actuators adopt a composite structure of two kinds of pneumatic networks which can work independently and play their respective roles in grasping. The design, analyses, and fabrication of the proposed soft actuators are introduced systematically, and then an experimental system is built to examine the output characteristics of the soft actuator. Compared with the conventional single pneumatic network-based soft actuator, the newly proposed one combines the advantages of the two pneumatic networks, and it employs a larger output force and retains desired bending deformation ability at the same time. The grasping performance test results show that the new soft gripper constituted by the proposed soft actuators has high reliability and stability whether in pinching or in enveloping grasping, and it is also competent for grasping heavier or irregular objects, demonstrating the feasibility and effectiveness of the newly proposed soft actuator, and giving it a good and wide application prospect.

show abstract

Soft Pneumatic Actuator with Bimodal Bending Response Using a Single Pressure Source

Cited by 14 publications

References 14 publications

Soft Robots for Cluttered Environments Based on Origami Anisotropic Stiffness Structure (OASS) Inspired by Desert Iguana

Soft Robots for Cluttered Environments Based on Origami Anisotropic Stiffness Structure (OASS) Inspired by Desert Iguana

Soft Grippers for Automatic Crop Harvesting: A Review

Design, Fabrication, and Performance Test of a New Type of Soft-Robotic Gripper for Grasping

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