Soft Pneumatic Gripper With a Tendon-Driven Soft Origami Pump

Kim, Yeunhee; Cha, Youngsu

doi:10.3389/fbioe.2020.00461

Cited by 62 publications

(31 citation statements)

References 50 publications

Supporting

Mentioning

Contrasting

Order By: Relevance

“…We also observed the existence of hysteresis between the flexion and extension movements. It is inferred that the hysteresis may be due to the discrepancy between the pressure output and deformation of the origami pump [18]. Conversely, the Kresling pattern of the LF rotates in the reverse direction from the right counterpart, while the left side of the robot has a mirror-symmetrical structure from the right section with respect to the center of the front view.…”

Section: A Motion Analysismentioning

confidence: 97%

“…The operating principle of OPARO is based on the tendondriven pneumatic system [18]. In particular, the four legs of OPARO are controlled only by two motors.…”

Section: Operating Principlementioning

confidence: 99%

“…Our previous research concerning an origami pump with a soft pneumatic actuator was reported in Ref. [18]. Specifically, we adapted a tendondriven origami pump and a soft pneumatic actuator for the forelegs and hindlegs, respectively.…”

Section: Introductionmentioning

confidence: 99%

See 2 more Smart Citations

Origami Pump Actuator Based Pneumatic Quadruped Robot (OPARO)

2021

Self Cite

View full text Add to dashboard Cite

In this study, we proposed an origami pump actuator based pneumatic quadruped robot (OPARO). The robot was constructed with a four-leg system controlled by only two motors. Specifically, the forelegs and hindlegs are pneumatically coupled to operate simultaneously with a tendon-driven system. The forelegs simultaneously performs pumping and actuating to supply air to the hindlegs, and the hindlegs are passively actuated by the air supply from the forelegs. We conducted a series of experiments to evaluate the mobility performance of OPARO. We measured the posture of each leg and analyzed the movement to determine the operating mechanism in locomotion. The motion, gait, and repeatability of OPARO were analyzed from the experimental results. Additionally, we conducted a parametric study to determine the tendencies at different gait frequencies and motor inputs. The OPARO moves at a maximum velocity of 0.11 body length per second (10.29 mm/s). Furthermore, we evaluated the gait velocity with various gait patterns according to different duty ratios and floor surfaces. Moreover, the steering performance of OPARO was demonstrated. We found that the tendon-driven pneumatic origami pump actuator system is adequate for a quadruped robot without an external air supply system.

show abstract

Section: A Motion Analysismentioning

confidence: 97%

“…The operating principle of OPARO is based on the tendondriven pneumatic system [18]. In particular, the four legs of OPARO are controlled only by two motors.…”

Section: Operating Principlementioning

confidence: 99%

See 1 more Smart Citation

Origami Pump Actuator Based Pneumatic Quadruped Robot (OPARO)

2021

Self Cite

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

121

View full text Add to dashboard Cite

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.

show abstract

“…Kim et al replaced the compressor by an origami pump driven by tendons to control the bending angle of a soft robotic finger. The operating mechanism comprised of bending and releasing of fingers through pulling and releasing of tendons [7].…”

Section: Pneumatic Actuationmentioning

confidence: 99%

Actuation Technologies for Soft Robot Grippers and Manipulators: A Review

et al. 2021

View full text Add to dashboard Cite

Purpose of Review The new paradigm of soft robotics has been widely developed in the international robotics community. These robots being soft can be used in applications where delicate yet effective interaction is necessary. Soft grippers and manipulators are important, and their actuation is a fundamental area of study. The main purpose of this work is to provide readers with fast references to actuation technologies for soft robotic grippers in relation to their intended application. Recent Findings The authors have surveyed recent findings on actuation technologies for soft grippers. They presented six major kinds of technologies which are either used independently for actuation or in combination, e.g., pneumatic actuation combined with electro-adhesion, for certain applications. Summary A review on the latest actuation technologies for soft grippers and manipulators is presented. Readers will get a guide on the various methods of technology utilization based on the application.

show abstract

Soft Pneumatic Gripper With a Tendon-Driven Soft Origami Pump

Cited by 62 publications

References 50 publications

Origami Pump Actuator Based Pneumatic Quadruped Robot (OPARO)

Origami Pump Actuator Based Pneumatic Quadruped Robot (OPARO)

Soft Grippers for Automatic Crop Harvesting: A Review

Actuation Technologies for Soft Robot Grippers and Manipulators: A Review

Contact Info

Product

Resources

About