Two chambers soft actuator realizing robotic gymnotiform swimmers fin

Razif, Muhammad Rusydi Muhammad; Faudzi, Ahmad Athif Mohd; Bavandi, Mahrokh; Nordin, Ili Najaa Aimi Mohd; Natarajan, Elango; Yaakob, Omar

doi:10.1109/robio.2014.7090300

Cited by 20 publications

(11 citation statements)

References 11 publications

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“…They are using various kind of actuation technologies including electrical motor [2][3][4], shape memory alloy (SMA) [5], piezoelectric [6], Ionic Polymer-Metal Composite (IPMC) [7] and microelectromechanical system (MEMS) [8]. In producing a flexible movement such as Manta's wings [9], starfish robot [10] and Black Ghost Knife Fish's fin [11], soft actuator technology is selected to be used because of its high flexibility, simple structure, water resistance, high compliance and light weight [12]. Based on those advantages, soft actuator is predicted to have a great potential to be used in marine engineering technology as an alternative propulsion system for marine transportation in future.…”

Section: Introductionmentioning

confidence: 99%

“…Although many inventions in soft actuator design and application recently, there are more studies on two-chambers soft actuator has been unnoticed. Latest study in two-chambers soft actuator has been advancing on optimal bending characteristic design and application in robotic [12]. The two chambers soft actuator has great potential to be explored in flapping application because of its advantage to bend symmetrically in right and left direction [12], and its body made from elastic and waterproof material make it suitable for underwater usage.…”

Section: Introductionmentioning

confidence: 99%

“…Latest study in two-chambers soft actuator has been advancing on optimal bending characteristic design and application in robotic [12]. The two chambers soft actuator has great potential to be explored in flapping application because of its advantage to bend symmetrically in right and left direction [12], and its body made from elastic and waterproof material make it suitable for underwater usage. Thus this paper presents the continuation study on two chambers soft actuator by comparing its bending performance in air and water environment as well as actuator's rotational performance as supplied pressure increased.…”

Section: Introductionmentioning

confidence: 99%

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Two-chambers soft actuator bending and rotational properties for underwater application

Razif

Faudzi

Nordin

et al. 2019

IJEECS

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<span>This paper presents a study on bending and rotational properties of two-chambers soft actuator for underwater application. Previous study demonstrated the actuator characteristics required to optimize the bending performance and its potential to perform underwater because of the actuator material. However, there is less study of the actuator performance underwater as well as how the actuator tips rotating during actuator bending motion. In this paper, three tests have been proposed which are comparisons of bending angle simulation and experiment in air environment, bending angle performance in air and underwater environment as well as rotational angle of actuator tip in air environment. The bending angle of soft actuator is measured based on displacement in horizontal and vertical axis and for rotational angle, gyro sensor has been used. Based on the analysis, it is proven that the fabricated soft actuator performs almost similar trend to the simulation. It is also demonstrated that the actuator performs almost double bending motion underwater environment compared to in air environment at the same pressure, and the actuator is able to rotate 90º in air environment with the supplied pressure 52 kPa.</span>

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Section: Introductionmentioning

confidence: 99%

Section: Introductionmentioning

confidence: 99%

Section: Introductionmentioning

confidence: 99%

See 1 more Smart Citation

Two-chambers soft actuator bending and rotational properties for underwater application

Razif

Faudzi

Nordin

et al. 2019

IJEECS

View full text Add to dashboard Cite

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“…Recently, several modifications were presented to modify the behaviour of the contractor PMA. Amongst the research, Razif, et al [29] presented and analysed [30] a modified approach bending behaviour by using double chambers. Natarajan, et al [31] designed a soft finger that can bend in various ways by controlling the form of the coverage sleeve.…”

Section: Introductionmentioning

confidence: 99%

Novel Design and Position Control Strategy of a Soft Robot Arm

et al. 2018

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This article presents a novel design of a continuum arm, which has the ability to extend and bend efficiently. Numerous designs and experiments have been done to different dimensions on both types of McKibben pneumatic muscle actuators (PMA) in order to study their performances. The contraction and extension behaviour have been illustrated with single contractor actuators and single extensor actuators, respectively. The tensile force for the contractor actuator and the compressive force for the extensor PMA are thoroughly explained and compared. Furthermore, the bending behaviour has been explained for a single extensor PMA, multi extensor actuators and multi contractor actuators. A two-section continuum arm has been implemented from both types of actuators to achieve multiple operations. Then, a novel construction is proposed to achieve efficient bending behaviour of a single contraction PMA. This novel design of a bending-actuator has been used to modify the presented continuum arm. Two different position control strategies are presented, arising from the results of the modified soft robot arm experiment. A cascaded position control is applied to control the position of the end effector of the soft arm at no load by efficiently controlling the pressure of all the actuators in the continuum arm. A new algorithm is then proposed by distributing the x, y and z-axis to the actuators and applying an effective closed-loop position control to the proposed arm at different load conditions.

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“…Iwata et al [17] combined two or more actuators into one. Another technique that could be used is combining two different patterns of braided angle in a single soft actuator cylindrical body [18] using multiple chambers actuator [19], or designing asymmetrical shape of the actuator as bellow shape [20].…”

Section: Introductionmentioning

confidence: 99%

Soft-amphibious robot using thin and soft McKibben actuator

Faudzi

Razif

Endo

et al. 2017

2017 IEEE International Conference on Advanced Intelligent Mechatronics (AIM)

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This paper introduces a quadruped soft-amphibious robot using 4.0 mm diameter thin and soft McKibben actuator. The robot utilizes its leg and body bending mechanism to locomote. For each leg, three links of the actuators are arranged in parallel with fixed upper and bottom part. Then, four actuators are arranged in parallel and fixed with a thin plastic plate in between the actuators for the body motion. The elastic deformation of the plastic plate actuated by the actuators assist in the side-to-side motion of the robot mimicking the gait of the biological creature like lizard/salamander during walking motion. FEM simulation studies were performed in Marc Mentat® to evaluate the bending behaviors and validated with an experimental test. Walking experiment was tested on a flat surface and on sand using two different gaits of trot and crawl gait. On the other hand, swimming experiment was tested inside water using only crawl gait. Different input pressure and frequency were varied to study the walking behavior. The robot successfully walks on a flat and 10 o incline plane with a maximum speed of 0.056 m/s using trot gait and robust to move on sand and in water using the crawl gait at 0.041 m/s and 0.022 m/s, respectively.

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Two chambers soft actuator realizing robotic gymnotiform swimmers fin

Cited by 20 publications

References 11 publications

Two-chambers soft actuator bending and rotational properties for underwater application

Two-chambers soft actuator bending and rotational properties for underwater application

Novel Design and Position Control Strategy of a Soft Robot Arm

Soft-amphibious robot using thin and soft McKibben actuator

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