TWISTER Hand: Underactuated Robotic Gripper Inspired by Origami Twisted Tower

Lee, Kiju; Wang, Yanzhou; Zheng, Chuanqi

doi:10.1109/tro.2019.2956870

Cited by 79 publications

(38 citation statements)

References 58 publications

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“…• Gripper could lift 100 times its own weight with great ease • Could withstand a maximum force of 40 N actuated system for driving the actuators where one single motor was connected to three cables, each cable passing through a single finger [25]. In contrast to this underactuated gripper, Chen et al developed a gripper with three fingers, each actuated by a separate motor.…”

Section: Cable-driven Actuationmentioning

confidence: 99%

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Actuation Technologies for Soft Robot Grippers and Manipulators: A Review

et al. 2021

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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.

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Section: Cable-driven Actuationmentioning

confidence: 99%

“…(2015) [25] Application: soft surgical robot 1. Manipulator was divided into two parts; each part driven by four cables 2.…”

Section: Shape Memory Alloy Actuationmentioning

confidence: 99%

Actuation Technologies for Soft Robot Grippers and Manipulators: A Review

et al. 2021

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“…Similarly, a soft pneumatic gripper with a tendon driven soft origami pump was built using a Kresling pattern ( Kim et al, 2020 ), which is similar to PFP. Another pattern similar to PFP, i.e., stacked octagonal layers by Mihoko Tachibana was used to create an under actuated robotic gripper; TWISTER Hand ( Lee et al, 2020 ). Martinez et al (2012) reported programmable paper-elastomeric composites origami, where a paper-based bellows origami pattern (similar to PFP) was molded with elastomeric material to prototype an elongating actuator.…”

Section: Principle Of Designmentioning

confidence: 99%

An Origami-Based Soft Robotic Actuator for Upper Gastrointestinal Endoscopic Applications

et al. 2021

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Soft pneumatic actuators have been explored for endoscopic applications, but challenges in fabricating complex geometry with desirable dimensions and compliance remain. The addition of an endoscopic camera or tool channel is generally not possible without significant change in the diameter of the actuator. Radial expansion and ballooning of actuator walls during bending is undesirable for endoscopic applications. The inclusion of strain limiting methods like, wound fibre, mesh, or multi-material molding have been explored, but the integration of these design approaches with endoscopic requirements drastically increases fabrication complexity, precluding reliable translation into functional endoscopes. For the first time in soft robotics, we present a multi-channel, single material elastomeric actuator with a fully corrugated design (inspired by origami); offering specific functionality for endoscopic applications. The features introduced in this design include i) fabrication of multi-channel monolithic structure of 8.5 mm diameter, ii) incorporation of the benefits of corrugated design in a single material (i.e., limited radial expansion and improved bending efficiency), iii) design scalability (length and diameter), and iv) incorporation of a central hollow channel for the inclusion of an endoscopic camera. Two variants of the actuator are fabricated which have different corrugated or origami length, i.e., 30 mm and 40 mm respectively). Each of the three actuator channels is evaluated under varying volumetric (0.5 mls-1 and 1.5 mls-1 feed rate) and pressurized control to achieve a similar bending profile with the maximum bending angle of 150°. With the intended use for single use upper gastrointestinal endoscopic application, it is desirable to have linear relationships between actuation and angular position in soft pneumatic actuators with high bending response at low pressures; this is where the origami actuator offers contribution. The soft pneumatic actuator has been demonstrated to achieve a maximum bending angle of 200° when integrated with manually driven endoscope. The simple 3-step fabrication technique produces a complex origami pattern in a soft robotic structure, which promotes low pressure bending through the opening of the corrugation while retaining a small diameter and a central lumen, required for successful endoscope integration.

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“…A picking robot arm is scheduled to pick a task in the specific working space to enhance the stability and movement with a specific trajectory points [8]. In [9], the authors have presented a cable-driven underactuated robotic gripper, which is designed for adaptable picking objects in different shapes, weights, sizes, and textures. ABB's Yumi robot has been reported many successful efforts to improve dual-arm operations for synchronized programming in industrial tasks detailed in [3].…”

Section: Introductionmentioning

confidence: 99%