DEVELOPMENT OF A SOFT PNEUMATIC ACTUATOR FOR MODULAR ROBOTIC MECHANISMS

Soft robotics is a widely and rapidly growing field of research today. Soft pneumatic actuators, as a fundamental element in soft robotics, have gained huge popularity and are being employed for the development of soft robots. During the last decade, a variety of hyper-elastic robotic systems have been realized. As the name suggests, such robots are made up of soft materials, and do not have any underlying rigid mechanical structure. These robots are actuated employing various methods like pneumatic, electroactive, jamming etc. Generally, in order to achieve a desired mechanical response to produce required actuation or manipulation, two or more materials having different stiffness are utilized to develop a soft robot. However, this method introduces complications in the fabrication process as well as in further design flexibility and modifications. The current work presents a design scheme of a soft robotic actuator adapting an easier fabrication approach, which is economical and environment friendly as well. The purpose is the realization of a soft pneumatic actuator having functional ability to produce effective actuation, and which is further employable to develop modular and scalable mechanisms. That infers to scrutinize the profile and orientation of the internal actuation cavity and the outer shape of viii the actuator. Utilization of a single material for this actuator has been considered to make this design scheme convenient. A commercial silicone rubber was selected which served for an economical process both in terms of the cost as well as its accommodating fabrication process through molding. In order to obtain the material behavior, \u2018Ansys Workbench 17.1 R \u2019 has been used. Cubic outline for the actuator aided towards the realization of a body shape which can easily be engaged for the development of modular mechanisms employing multiple units. This outer body shape further facilitates to achieve the stability and portability of the actuator. The soft actuator has been named \u2018Soft Cubic Module\u2019 based on its external cubic shape. For the internal actuation cavity design, various shapes, such as spherical, elliptical and cylindrical, were examined considering their different sizes and orientations within the cubic module. These internal cavities were simulated in order to achieve single degree of freedom actuation. That means, only one face of the cube is principally required to produce effective deformation. \u2018Creo Perametric 3.0 M 130\u2019 has been used to design the model and to evaluate the performance of actuation cavities in terms of effective deformation and the resulting von-mises stress. Out of the simulated profiles, cylindrical cavity with desired outcomes has been further considered to design the soft actuator. \u2018Ansys Workbench 17.1 R \u2019 environment was further used to assess the performance of cylindrical actuation cavity. Evaluation in two different simulation environments helped to validate the initially achieved results. The developed soft cubic actuator was then employed to develop different mechanisms in a single unit configuration as well as multi-unit robotic system developments. This design scheme is considered as the first tool to investigate its capacity to perform certain given tasks in various configurations. Alongside its application as a single unit gripper and a two unit bio-mimetic crawling mechanism, this soft actuator has been employed to realize a four degree ix of freedom robotic mechanism. The formation of this primitive soft robotic four axis mechanism is being further considered to develop an equivalent mechanism similar to the well known Stewart platform, with advantages of compactness, simpler kinematics design, easier control, and lesser cost. Overall, the accomplished results indicate that the design scheme of Soft Cubic Module is helpful in realizing a simple and cost-effective soft pneumatic actuator which is modular and scalable. Another favourable point of this scheme is the use of a single material with convenient fabrication and handling

RoboPianist: A Benchmark for High-Dimensional Robot Control

We introduce a new benchmarking suite for high-dimensional control, targeted at testing high spatial and temporal precision, coordination, and planning, all with an underactuated system frequently making-and-breaking contacts. The proposed challenge is mastering the piano through bi-manual dexterity, using a pair of simulated anthropomorphic robot hands. We call it RoboPianist, and the initial version covers a broad set of 150 variable-difficulty songs. We investigate both model-free and model-based methods on the benchmark, characterizing their performance envelopes. We observe that while certain existing methods, when well-tuned, can achieve impressive levels of performance in certain aspects, there is significant room for improvement. RoboPianist provides a rich quantitative benchmarking environment, with human-interpretable results, high ease of expansion by simply augmenting the repertoire with new songs, and opportunities for further research, including in multi-task learning, zero-shot generalization, multimodal (sound, vision, touch) learning, and imitation. Supplementary information, including videos of our control policies, can be found at https://kzakka.com/robopianist

Geometry and kinematics for a spherical-base integrated parallel mechanism

Parallel mechanisms, in general, have a rigid base and a moving platform connected by several limbs. For achieving higher mobility and dexterity, more degrees of freedom are introduced to the limbs. However, very few researchers focus on changing the design of the rigid base and making it foldable and reconfigurable to improve the performance of the mechanism. Inspired by manipulating an object with a metamorphic robotic hand, this paper presents for the first time a parallel mechanism with a reconfigurable base. This novel spherical-base integrated parallel mechanism has an enlarged workspace compared with traditional parallel manipulators. Evolution and structure of the proposed parallel mechanism is introduced and the geometric constraint of the mechanism is investigated based on mechanism decomposition. Further, kinematics of the proposed mechanism is reduced to the solution of a univariate polynomial of degree 8. Moreover, screw theory based Jacobian is presented followed by the velocity analysis of the mechanism

Design and development of robust hands for humanoid robots

Design and development of robust hands for humanoid robot

Whole-Hand Robotic Manipulation with Rolling, Sliding, and Caging

Traditional manipulation planning and modeling relies on strong assumptions about contact. Specifically, it is common to assume that contacts are fixed and do not slide. This assumption ensures that objects are stably grasped during every step of the manipulation, to avoid ejection. However, this assumption limits achievable manipulation to the feasible motion of the closed-loop kinematic chains formed by the object and fingers. To improve manipulation capability, it has been shown that relaxing contact constraints and allowing sliding can enhance dexterity. But in order to safely manipulate with shifting contacts, other safeguards must be used to protect against ejection. “Caging manipulation,” in which the object is geometrically trapped by the fingers, can be employed to guarantee that an object never leaves the hand, regardless of constantly changing contact conditions. Mechanical compliance and underactuated joint coupling, or carefully chosen design parameters, can be used to passively create a caging grasp – protecting against accidental ejection – while simultaneously manipulating with all parts of the hand. And with passive ejection avoidance, hand control schemes can be made very simple, while still accomplishing manipulation. In place of complex control, better design can be used to improve manipulation capability—by making smart choices about parameters such as phalanx length, joint stiffness, joint coupling schemes, finger frictional properties, and actuator mode of operation. I will present an approach for modeling fully actuated and underactuated whole-hand-manipulation with shifting contacts, show results demonstrating the relationship between design parameters and manipulation metrics, and show how this can produce highly dexterous manipulators

An Optical Sensor Design: Concurrent Multi-axis Force Measurement and Tactile Perception.

PhD ThesesForce and tactile sensing have experienced a surge of interest over recent decades, as they convey useful information about the direct physical interaction between the sensor and the external environment. A robot end effector is a device designed to interact with the environment. End effectors such as robotic hands and grippers can be used to pick up, place or generally manipulate objects. There is a clear need to equip such end effectors with appropriate sensing means to be able to measure tactile and force information. Work to date has explored these two modalities separately. Tactile sensors have been developed for integration with gripper fingertips or as skins embedded with the outer side of manipulators, mainly to measure normal force and its distribution across a surface patch. On the other hand, force sensors have commonly been integrated with the joints of robotic arms or fingers to measure external multi-axis forces and torques via the connected links. We observe that a force sensor cannot measure tactile information, and current tactile sensors cannot accurately measure force information. This can become a particular issue when integrating force sensors remotely to measure forces indirectly, especially if the connecting link is flexible or, generally, difficult to model potentially impacting negatively on the force estimates. We aim to provide a solution for an integrated sensor capable of measuring tactile and force information at the point of contact, i.e., on the fingertip of a robot hand or arm. In this thesis, we explore the idea of integrating the two sensing modalities, tactile and force sensing, in one sensor housing with the signal acquisition being performed by a single monocular camera acting as the transducer. The hypothesis is that an integrated force/tactile sensor will perform in a better way than having these sensor modalities separated. This thesis shows that an integrated sensor achieves a tactile sensing performance comparable to existing vision-based tactile sensors and at the same time proves to provide more accurate force sensor information whilst extending the field of similar vision-based sensors from 3 DoF to 6 DoF. In addition, the tactile sensing element of our sensor is not affected by the patterns superimposed on to the flexible element of comparable vision-based sensors used to infer force information. In this thesis, we have implemented several sensor prototypes; designs and experimental analyses for each prototype are being provided. The manufactured sensor prototypes prove the validity of the proposed vision-based dual-modality sensing approach, and the proposed sensing principle and structure shows high versatility and accuracy, as well as the potential for further miniaturization, making the proposed concept suitable for integration with standard robot end effectors

Modeling, Analysis, Force Sensing and Control of Continuum Robots for Minimally Invasive Surgery

This dissertation describes design, modeling and application of continuum robotics for surgical applications, specifically parallel continuum robots (PCRs) and concentric tube manipulators (CTMs). The introduction of robotics into surgical applications has allowed for a greater degree of precision, less invasive access to more remote surgical sites, and user-intuitive interfaces with enhanced vision systems. The most recent developments have been in the space of continuum robots, whose exible structure create an inherent safety factor when in contact with fragile tissues. The design challenges that exist involve balancing size and strength of the manipulators, controlling the manipulators over long transmission pathways, and incorporating force sensing and feedback from the manipulators to the user. Contributions presented in this work include: (1) prototyping, design, force sensing, and force control investigations of PCRs, and (2) prototyping of a concentric tube manipulator for use in a standard colonoscope. A general kinetostatic model is presented for PCRs along with identification of multiple physical constraints encountered in design and construction. Design considerations and manipulator capabilities are examined in the form of matrix metrics and ellipsoid representations. Finally, force sensing and control are explored and experimental results are provided showing the accuracy of force estimates based on actuation force measurements and control capabilities. An overview of the design requirements, manipulator construction, analysis and experimental results are provided for a CTM used as a tool manipulator in a traditional colonoscope. Currently, tools used in colonoscopic procedures are straight and exit the front of the scope with 1 DOF of operation (jaws of a grasper, tightening of a loop, etc.). This research shows that with a CTM deployed, the dexterity of these tools can be increased dramatically, increasing accuracy of tool operation, ease of use and safety of the overall procedure. The prototype investigated in this work allows for multiple tools to be used during a single procedure. Experimental results show the feasibility and advantages of the newly-designed manipulators

Surgical Applications of Compliant Mechanisms:A Review

Current surgical devices are mostly rigid and are made of stiff materials, even though their predominant use is on soft and wet tissues. With the emergence of compliant mechanisms (CMs), surgical tools can be designed to be flexible and made using soft materials. CMs offer many advantages such as monolithic fabrication, high precision, no wear, no friction, and no need for lubrication. It is therefore beneficial to consolidate the developments in this field and point to challenges ahead. With this objective, in this article, we review the application of CMs to surgical interventions. The scope of the review covers five aspects that are important in the development of surgical devices: (i) conceptual design and synthesis, (ii) analysis, (iii) materials, (iv) maim facturing, and (v) actuation. Furthermore, the surgical applications of CMs are assessed by classification into five major groups, namely, (i) grasping and cutting, (ii) reachability and steerability, (iii) transmission, (iv) sensing, and (v) implants and deployable devices. The scope and prospects of surgical devices using CMs are also discussed