Stiffness Customization and Patterning for Property Modulation of Silicone-Based Soft Pneumatic Actuators

Sun, Yi; Yap, Hui-Kim; Liang, Xinquan; Guo, Jin; Qi, Peng; Ang, Marcelo H.; Yeow, Chen-Hua

doi:10.1089/soro.2016.0047

Cited by 74 publications

(33 citation statements)

References 32 publications

Supporting

Mentioning

Contrasting

Order By: Relevance

“…Although soft robots' motion can be manipulated by attaching fibers [18], sleeves [20], or fabric patches [21] to different portions of the actuators, the motion patterns are pre-programmed and cannot be changed after fabrication. To change the DOF during operation, some studies have embedded SMP at the arthroses of the actuator [22].…”

Section: Discussionmentioning

confidence: 99%

“…The multi-materials prototypes, such as the fiber-reinforced actuator, can perform varied motions by changing the angle of the fibers during the design stage [18]. Furthermore, studies also accomplish similar tasks by using paper [19], sleeves [20], or fabric patches [21] in tandem with soft actuators. A few other studies have attempted to adjust motion patterns in operation by heating shape memory polymers [21] or activating conductive elastomers [23] located in certain areas of soft robots.…”

Section: Introductionmentioning

confidence: 99%

See 1 more Smart Citation

A eutectic-alloy-infused soft actuator with sensing, tunable degrees of freedom, and stiffness properties

Hao¹,

Wang²,

Xie³

et al. 2018

J. Micromech. Microeng.

View full text Add to dashboard Cite

This paper presents a soft actuator embedded with two types of eutectic alloys which enable sensing, tunable mechanical degrees of freedom (DOF), and variable stiffness properties. To modulate the stiffness of the actuator, we embedded a low melting point alloy (LMPA) in the bottom portion of the soft actuator. Different sections of the LMPA could be selectively melted by the Ni-Cr wires twined underneath. To acquire the curvature information, EGaIn (eutectic gallium indium) was infused into a microchannel surrounding the chambers of the soft actuator. Systematic experiments were performed to characterize the stiffness, tunable DOF, and sensing the bending curvature. We found that the average bending force and elasticity modulus could be increased about 35 and 4000 times, respectively, with the LMPA in a solid state. The entire LMPA could be melted from a solid to a liquid state within 12 s. In particular, up to six different motion patterns could be achieved under each pneumatic pressure of the soft actuator. Furthermore, the kinematics of the actuator under different motion patterns could be obtained by a mathematical model whose input was provided by the EGaIn sensor. For demonstration purposes, a two-fingered gripper was fabricated to grasp various objects by adjusting the DOF and mechanical stiffness.

show abstract

Section: Discussionmentioning

confidence: 99%

Section: Introductionmentioning

confidence: 99%

A eutectic-alloy-infused soft actuator with sensing, tunable degrees of freedom, and stiffness properties

Hao¹,

Wang²,

Xie³

et al. 2018

J. Micromech. Microeng.

View full text Add to dashboard Cite

show abstract

“…The air-propelled locomotion, which is demonstrated with the air-driven robot, opens up another untapped field of nature-inspired design that can be integrated into a myriad of drone and exoskeleton applications. The evaluation and comparison of the proposed air-propulsion actuator with our previous works in conventional pneumatic bladder actuators [6,36,37] is presented in Table 2.…”

Section: Discussionmentioning

confidence: 99%

Propulsion-Based Soft Robotic Actuation

Chua

Yeow

2017

Robotics

View full text Add to dashboard Cite

Abstract:The use of air propulsion to drive limb motion in soft robotics has been a largely untapped field even though the technology has been around since the 1700s. Air propulsion can generate greater degrees of motion in limb actuators compared to widely-experimented pneumatic actuators operating on expandable air channels, which are limited by air pressure input, minimum size and cyclic fatigue. To demonstrate the application of air propulsion in soft robotics motion, we developed a 3D-printed, tri-pedal, soft, air-driven robot that can perform biomimetic motions such as flexion and extension of limbs, crawling, rotation, grasping, kicking and picking of objects. To accomplish air-propelled actuation, milli-scale channels are incorporated throughout each limb that guides the pressurized air inflow to outlets of different directions. A Finite Element Model (FEM) approach to simulate the bending response of the limb due to varying pressure is proposed and evaluated. This study introduces the potential of using air propulsion as an alternate form of soft body actuation for longer cyclic lifespan and increased maximum air pressure input.

show abstract

“…The topic is still an open issue. Literature reports some reviews and tentative approaches to identify, design and combine soft robotics technologies for stiffness tuning (Manti et al, 2016;Sun et al, 2017;Wang et al, 2018).…”

Section: Introductionmentioning

confidence: 99%

Toward a Variable Stiffness Surgical Manipulator Based on Fiber Jamming Transition

et al. 2019

View full text Add to dashboard Cite

Soft robots have proved to represent a new frontier for the development of intelligent machines able to show new capabilities that can complement those currently performed by robots based on rigid materials. One of the main application areas where this shift is promising an impact is minimally invasive surgery. In previous works, the STFF-FLOP soft manipulator has been introduced as a new concept of using soft materials to develop endoscopic tools. In this paper, we present a novel kind of stiffening system based on fiber jamming transition that can be embedded in the manipulator to widen its applicability by increasing its stability and with the possibility to produce and transmit higher forces. The STIFF-FLOP original module has been redesigned in two new versions to incorporate the variable stiffness mechanism. The two designs have been evaluated in terms of dexterity and variable stiffness capability and, despite a general optimization rule did not clearly emerge, the study confirmed that fiber jamming transition can be considered an effective technological approach for obtaining variable stiffness in slender soft structures.

show abstract

Stiffness Customization and Patterning for Property Modulation of Silicone-Based Soft Pneumatic Actuators

Cited by 74 publications

References 32 publications

A eutectic-alloy-infused soft actuator with sensing, tunable degrees of freedom, and stiffness properties

A eutectic-alloy-infused soft actuator with sensing, tunable degrees of freedom, and stiffness properties

Propulsion-Based Soft Robotic Actuation

Toward a Variable Stiffness Surgical Manipulator Based on Fiber Jamming Transition

Contact Info

Product

Resources

About