268 research outputs found
Bioinspired Soft Robotics: state of the art, challenges, and future directions
Purpose of Review: This review provides an overview of the state of the art
in bioinspired soft robotics with by examining advancements in actuation,
functionality, modeling, and control. Recent Findings: Recent research into
actuation methods, such as artificial muscles, have expanded the functionality
and potential use of bioinspired soft robots. Additionally, the application of
finite dimensional models has improved computational efficiency for modeling
soft continuum systems, and garnered interest as a basis for controller
formulation. Summary: Bioinspiration in the field of soft robotics has led to
diverse approaches to problems in a range of task spaces. In particular, new
capabilities in system simplification, miniaturization, and untethering have
each contributed to the field's growth. There is still significant room for
improvement in the streamlining of design and manufacturing for these systems,
as well as in their control
Soft manipulators and grippers: A review
Soft robotics is a growing area of research which utilizes the compliance and adaptability of soft structures to develop highly adaptive robotics for soft interactions. One area in which soft robotics has the ability to make significant impact is in the development of soft grippers and manipulators. With an increased requirement for automation, robotics systems are required to perform task in unstructured and not well defined environments; conditions which conventional rigid robotics are not best suited. This requires a paradigm shift in the methods and materials used to develop robots such that they can adapt to and work safely in human environments. One solution to this is soft robotics, which enables soft interactions with the surroundings while maintaining the ability to apply significant force. This review paper assesses the current materials and methods, actuation methods and sensors which are used in the development of soft manipulators. The achievements and shortcomings of recent technology in these key areas are evaluated, and this paper concludes with a discussion on the potential impacts of soft manipulators on industry and society
Pouch Motors: Printable Soft Actuators Integrated with Computational Design
We propose pouch motors, a new family of printable soft actuators integrated with computational design. The pouch motor consists of one or more inflatable gas-tight bladders made of sheet materials. This printable actuator is designed and fabricated in a planar fashion. It allows both easy prototyping and mass fabrication of affordable robotic systems. We provide theoretical models of the actuators compared with the experimental data. The measured maximum stroke and tension of the linear pouch motor are up to 28% and 100 N, respectively. The measured maximum range of motion and torque of the angular pouch motor are up to 80° and 0.2 N, respectively. We also develop an algorithm that automatically generates the patterns of the pouches and their fluidic channels. A custom-built fabrication machine streamlines the automated process from design to fabrication. We demonstrate a computer-generated life-sized hand that can hold a foam ball and perform gestures with 12 pouch motors, which can be fabricated in 15 min.National Science Foundation (U.S.) (1240383)National Science Foundation (U.S.) (1138967)United States. Department of Defens
Origami-inspired soft twisting actuator
Soft actuators have shown great advantages in compliance and morphology
matched for manipulation of delicate objects and inspection in a confined
space. There is an unmet need for a soft actuator that can provide torsional
motion to e.g. enlarge working space and increase degrees of freedom. Towards
this goal, we present origami-inspired soft pneumatic actuators (OSPAs) made
from silicone. The prototype can output a rotation of more than one revolution
(up to 435{\deg}), more significant than its counterparts. Its rotation ratio
(=rotation angle/ aspect ratio) is more than 136{\deg}, about twice the largest
one in other literature. We describe the design and fabrication method, build
the analytical model and simulation model, and analyze and optimize the
parameters. Finally, we demonstrate the potentially extensive utility of the
OSPAs through their integration into a gripper capable of simultaneously
grasping and lifting fragile or flat objects, a versatile robot arm capable of
picking and placing items at the right angle with the twisting actuators, and a
soft snake robot capable of changing attitude and directions by torsion of the
twisting actuators.Comment: 9 figures. Soft Robotics (2022
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