SpineMan: Design of a soft robotic spine-like manipulator for safe human-robot interaction

Runge, Gundula; Preller, Tobias; Zellmer, Sabrina; Blankemeyer, Sebastian; Kreuz, Marian; Garnweitner, Georg; Raatz, Annika

doi:10.1109/iros.2015.7353508

Cited by 12 publications

(6 citation statements)

References 23 publications

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“…Within soft robotics, there are several popular actuation methods: pneumatic [35][36][37][38][39][40], hydraulic [41], vacuum [42], tendon-driven [33,43,44], etc. [30,31].…”

Section: B Finger Design and Fabricationmentioning

confidence: 99%

Tendon-Driven Soft Robotic Gripper for Blackberry Harvesting

Gunderman

Collins

Myers

et al. 2022

IEEE Robot. Autom. Lett.

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Global berry production and consumption have significantly increased in recent years, coinciding with increased consumer awareness of the health-promoting benefits of berries. Among them, fresh market blackberries and raspberries are primarily harvested by hand to maintain post-harvest quality. However, fresh market berry harvesting is an arduous, costly endeavor that accounts for up to 50% of the worker hours. Additionally, the inconsistent forces applied during handharvesting can result in an 85% loss of marketable berries due to red drupelet reversion (RDR). Herein, we present a novel, tendondriven soft robotic gripper with active contact force feedback control, which leverages the passive compliance of the gripper for the gentle harvesting of blackberries. The versatile gripper was able to apply a desired force as low as 0.5 N with a mean error of 0.046 N, while also holding payloads that produce forces as high as 18 N. Field test results indicate that the gripper is capable of harvesting berries with minimal berry damage, while maintaining a harvesting reliability of 95% and a harvesting rate of approximately 4.8 seconds per berry.

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“…Within soft robotics, there are several popular actuation methods: pneumatic [35][36][37][38][39][40], hydraulic [41], vacuum [42], tendon-driven [33,43,44], etc. [30,31].…”

Section: B Finger Design and Fabricationmentioning

confidence: 99%

Tendon-Driven Soft Robotic Gripper for Blackberry Harvesting

Gunderman

Collins

Myers

et al. 2022

IEEE Robot. Autom. Lett.

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“…The author collected some information about hydrogels for researchers who might be interested in this field in the future. In 2015, Runge et al proposed a spine-like manipulator with a bio-probe-SpineMan [89]. The SpineMan consists of rigid components made of polypropylene and soft components made of polyvinyl alcohol (PVA) borax hydrogel wrapped in the silicone skin.…”

Section: Other Soft Intelligent Materialsmentioning

confidence: 99%

Soft Rehabilitation and Nursing-Care Robots: A Review and Future Outlook

Peng

Huang

2019

Applied Sciences

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Rehabilitation and nursing-care robots have become one of the prevalent methods for assistant treatment of motor disorder patients in the field of medical rehabilitation. Traditional rehabilitation robots are mostly made of rigid materials, which significantly limits their application for medical rehabilitation and nursing-care. Soft robots show great potential in the field of rehabilitation robots because of their inherent compliance and safety when they interact with humans. In this paper, we conduct a systematic summary and discussion on the soft rehabilitation and nursing-care robots. This study reviews typical mechanical structures, modeling methods, and control strategies of soft rehabilitation and nursing-care robots in recent years. We classify soft rehabilitation and nursing-care robots into two categories according to their actuation technology, one is based on tendon-driven actuation and the other is based on soft intelligent material actuation. Finally, we analyze and discuss the future directions and work about soft rehabilitation and nursing-care robots, which can provide useful guidance and help on the development of advanced soft rehabilitation and nursing-care robots.

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“…As a typical example, the human spine has alternating stacks of hard bones and soft intervertebral discs, which is an essential architecture that supports human body weight while maintaining body flexibility. Arguably, mimicking the soft-hard structures in nature has inspired the design of intelligent man-made mechanical devices such as actuators and robots (5)(6)(7)(8)(9).…”

Section: Introductionmentioning

confidence: 99%

Biomimetic thermoresponsive superstructures by colloidal soft-and-hard co-assembly

Lyu

Zhou

et al. 2023

Sci. Adv.

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Soft-and-hard hybrid structures are ubiquitous in biological systems and have inspired the design of man-made mechanical devices, actuators, and robots. The realization of these structures, however, has been challenging at microscale, where material integration and actuation become exceedingly less practical. Here, through simple colloidal assembly, we create microscale superstructures consisting of soft and hard materials, which, serving as microactuators, have thermoresponsive shape-transforming properties. In this case, anisotropic metal-organic framework (MOF) particles as the hard components are integrated with liquid droplets, forming spine-mimicking colloidal chains via valence-limited assembly. The chains, with alternating soft and hard segments, are referred to as MicroSpine and can reversibly change shape, switching between straight and curved states through a thermoresponsive swelling/deswelling mechanism. By solidification of the liquid parts within a chain with prescribed patterns, we design various chain morphologies, such as “colloidal arms,” with controlled actuating behaviors. The chains are further used to build colloidal capsules, which encapsulate and release guests by the temperature-programmed actuation.

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SpineMan: Design of a soft robotic spine-like manipulator for safe human-robot interaction

Cited by 12 publications

References 23 publications

Tendon-Driven Soft Robotic Gripper for Blackberry Harvesting

Tendon-Driven Soft Robotic Gripper for Blackberry Harvesting

Soft Rehabilitation and Nursing-Care Robots: A Review and Future Outlook

Biomimetic thermoresponsive superstructures by colloidal soft-and-hard co-assembly

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