WISARD: Weight Informing Soft Artificial Robotic Dermis

Larsen, Bjarke Alexander; Manoonpong, Poramate; Jørgensen, Jonas

doi:10.1109/robosoft54090.2022.9762174

Cited by 7 publications

(8 citation statements)

References 26 publications

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“…Recently, several HRI studies explored the creation of novel robot expressions using silicone-based materials [11,15,18,21,28,29]. Hu and Hoffman [15] developed a pneumatically actuated skin for robots expressing emotions by changing the robot's skin (i.e., goosebumps and spikes), which can serve as both visual and haptic cues.…”

Section: Use Of Soft Materials For Robot Designmentioning

confidence: 99%

“…Klausen et al [18] designed a non-anthropomorphic robot using silicone-based material that communicates emotions through breathing patterns. Larsen et al [21] implemented a dermis for a robot arm inflating to provide weight information.…”

Section: Use Of Soft Materials For Robot Designmentioning

confidence: 99%

“…Participants interpreted backward as a pleasant reaction (12) in scenarios such as receiving "a present," or being surrounded with "calming ambience or music. " Backward was seen as a form of ruminating behavior (21), such as "looking up" and "investigating. " Backward was also seen as unpleasant behavior ( 14), e.g., "irritation" and "frustrated sigh."…”

Section: Situation Descriptionmentioning

confidence: 99%

“…Because of their advantages in high compliance, safety, and large deformation, SPAs have found a wide range of applications, such as bio-medical devices [27], grippers [44], or haptic feedback devices [37]. Besides these practical purposes, several works utilized SPAs for new robot expressions, e.g., to develop robot skin [15] or robotic muscles [21] using SPAs, toward enhancing human-robot interactions. These preliminary studies have demonstrated the promise of soft robotics for novel robot social cues, yet the use of soft robotics principles and methods in the design and construction of social robots is still underexplored.…”

Section: Introductionmentioning

confidence: 99%

See 3 more Smart Citations

Sprout: Designing Expressivity for Robots Using Fiber-Embedded Actuator

Koike,

Wehner,

Mutlu

2024

Proceedings of the 2024 ACM/IEEE International Conference on Human-Robot Interaction

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Section: Use Of Soft Materials For Robot Designmentioning

confidence: 99%

Section: Use Of Soft Materials For Robot Designmentioning

confidence: 99%

Section: Situation Descriptionmentioning

confidence: 99%

Section: Introductionmentioning

confidence: 99%

See 2 more Smart Citations

Sprout: Designing Expressivity for Robots Using Fiber-Embedded Actuator

Koike,

Wehner,

Mutlu

2024

Proceedings of the 2024 ACM/IEEE International Conference on Human-Robot Interaction

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“…The main body of each segment extends from the base at an angle of 10 degrees. The length of the segment is scaled proportionally based on the morphology of the real insect tarsus 6 , such that the lengths of all segments (from the base to the tip) are 75, 35,35,35, and 55 mm, respectively (Fig. 7).…”

Section: B Grasping Object Size Analysismentioning

confidence: 99%

Insect Tarsus-Inspired Compliant Robotic Gripper With Soft Adhesive Pads for Versatile and Stable Object Grasping

Phodapol

Harnkhamen

Asawalertsak

et al. 2023

IEEE Robot. Autom. Lett.

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Grasping multiple object types (versatile object grasping) with a single gripper is always a challenging task in robotic manipulation. Different types of grippers, including rigid and soft, have been developed to try to achieve the task. However, each gripper type is still restricted to specific object types. In nature, many insects can be observed to use only one tarsus mechanism to cope with several tasks. They have a very high grasping capability with objects and can adhere to a variety of surface types. Inspired by insect tarsus, this paper proposes a novel underactuated, single cable-driven, compliant gripper design. The structure of the gripper is based on the hornet tarsus morphology with a proportional scale. An additional pulley-like structure is introduced to increase the generated grasping torque. To maintain the ability to automatically rebound back to the original position, a torsion spring is implemented at each joint. In order to stably grasp and hold objects, soft adhesive pads with an asymmetric sawtooth-like surface structure are attached at the tarsus segments. The performance of this insect tarsusinspired gripper with the soft pads is evaluated by grasping 35 different objects of various sizes, shapes, and weights for comparison with industrial soft and rigid grippers. The proposed gripper shows a 100% success rate in grasping all objects, while the soft and rigid gripper success rates are 81.90% and 91.43% on average, respectively. We finally demonstrate the use of our gripper installed on a robot arm for pick-and-place and pouring tasks.

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Ajisai: A Structure That Matches the Relationship Between Force and Color to Human Perception

Hyodo,

Yamada

2024

IEEE Robot. Autom. Lett.

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Humans find it difficult to perceive visually the level of force exerted on an object by a robot operating with positional control. According to research, humans perceive colors in terms of weight following the order of yellow, green, blue, and red, clockwise on the hue circle. We believe that by developing a structure that changes colors in this specific order, we can achieve visual force transmission that aligns with the relationship between force and color as perceived by humans. In this study, we used the photoelasticity of an anisotropic transparent material, which changes color depending on the applied force when sandwiched between two polarizing plates. The material is dumbbell shaped, which ensures equalization of the applied force. Based on this, we have developed a structure called Ajisai, which is powered by artificial muscles and whose colors change in response to applied force to match human perception.

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WISARD: Weight Informing Soft Artificial Robotic Dermis

Cited by 7 publications

References 26 publications

Sprout: Designing Expressivity for Robots Using Fiber-Embedded Actuator

Sprout: Designing Expressivity for Robots Using Fiber-Embedded Actuator

Insect Tarsus-Inspired Compliant Robotic Gripper With Soft Adhesive Pads for Versatile and Stable Object Grasping

Ajisai: A Structure That Matches the Relationship Between Force and Color to Human Perception

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