Elastic Inflatable Actuators for Soft Robotic Applications

The 20th century’s robotic systems have been made out of stiff materials and much of the developments in the field have pursued ever more accurate and dynamic robots which thrive in industrial automation settings and will probably continue to do so for many decades to come. However, the 21st century’s robotic legacy may very well become that of soft robots. This emerging domain is characterized by continuous soft structures that simultaneously fulfil the role of robotic link and robotic actuator, where prime focus is on design and fabrication of the robotic hardware instead of software control to achieve a desired operation. These robots are anticipated to take a prominent role in delicate tasks where classic robots fail, such as in minimally invasive surgery, active prosthetics and automation tasks involving delicate irregular objects. Central to the development of these robots is the fabrication of soft actuators to generate movement. This paper reviews a particularly attractive type of soft actuators that are driven by pressurized fluids. These actuators have recently gained substantial traction on the one hand due to the technology push from better simulation tools and new manufacturing technologies including soft-lithography and additive manufacturing, and on the other hand by a market pull from the applications listed above. This paper provides an overview of the different advanced soft actuator configurations, their design, fabrication and applications.This research is supported by the Fund for Scientific Research-Flanders (FWO), and the European Research Council (ERC starting grant HIENA)

Elastic Inflatable Actuators for Soft Robotic Applications

The 20th century’s robotic systems have been made out of stiff materials and much of the developments in the field have pursued ever more accurate and dynamic robots which thrive in industrial automation settings and will probably continue to do so for many decades to come. However, the 21st century’s robotic legacy may very well become that of soft robots. This emerging domain is characterized by continuous soft structures that simultaneously fulfil the role of robotic link and robotic actuator, where prime focus is on design and fabrication of the robotic hardware instead of software control to achieve a desired operation. These robots are anticipated to take a prominent role in delicate tasks where classic robots fail, such as in minimally invasive surgery, active prosthetics and automation tasks involving delicate irregular objects. Central to the development of these robots is the fabrication of soft actuators to generate movement. This paper reviews a particularly attractive type of soft actuators that are driven by pressurized fluids. These actuators have recently gained substantial traction on the one hand due to the technology push from better simulation tools and new manufacturing technologies including soft-lithography and additive manufacturing, and on the other hand by a market pull from the applications listed above. This paper provides an overview of the different advanced soft actuator configurations, their design, fabrication and applications.This research is supported by the Fund for Scientific Research-Flanders (FWO), and the European Research Council (ERC starting grant HIENA)

Energy-based approach to develop soft robots

Soft robotic systems offer advantages against rigid robot systems in applications that involve physical robot-human interactions, unstructured or extreme environments, and manipulating delicate objects. Soft robots can offer inherently safe operation and adapt to unknown geometry of the environment or object. The current soft robot development approach is an empirical approach starting from a type of soft actuation technology, whereas the development of rigid robots can start from a top-level task in a System Engineering framework. The rigid robot developer can select from well-defined components to construct the task-orientated system. Soft robots are relatively novel systems compared with rigid robots and do not have well-defined components due to a wide range of soft actuation technologies. The initial choice of soft actuation technology places constraints on the system to perform the task. Soft robotic systems are not widely used despite the advantages compared to rigid robots. In this thesis, I study an abstraction approach to enable a System Engineering framework to develop soft robotic systems. My research focus is on an energy-based approach that encompasses the multi-domain nature of soft robotic systems. The impact on the final system from the energy transfer characteristics of the initial choice of the soft actuator has not been fully explored in the literature. I study how energy, and rate of energy transfer (power), can describe different components of each type of soft actuation and how the total energy can model the top-level system. This thesis includes (i) a literature review of soft robots; (ii) an abstraction approach based on bond-graph theory applied to soft actuation technologies; (iii) a port-Hamiltonian theory to describe the top-level soft robotic system, and (iv) an experimental application of the approach on a type of soft actuation technology. In summary, I explore how energy and rate of energy transfer can provide the abstraction approach and in time provide the well-defined components necessary for task-orientated design approaches in a System Engineering framework. In particular, I applied the approach to soft pneumatic systems for additional insights relevant to the development of future task-orientated soft robotic systems.EPSRC Doctoral Training Centre in Robotics and Autonomous Systems funding

NASA patent abstracts bibliography: A continuing bibliography. Section 1: Abstracts (supplement 39)

Abstracts are provided for 154 patents and patent applications entered into the NASA scientific and technical information systems during the period Jan. 1991 through Jun. 1991. Each entry consists of a citation, an abstract, and in most cases, a key illustration selected from the patent or patent application

Kinematics analysis on pneumatic flexible finger

Based on flexible pneumatic joints, a new kind of flexible finger was proposed. The structure and operating principle of the finger was presented. The kinematics equation of the finger was built by homogeneous transformation matrix. Based on the static experiment of joints, the kinematic simulation of the finger was carried out and the motion trajectory of the finger was obtained. The simulation results show that the finger has good flexibility and can complete the functions of forward bending, reverse bending and lateral swing of human hand

Design of a tri-axial surface micromachined MEMS vibrating gyroscope

Gyroscopes are one of the next killer applications for the MEMS (Micro-Electro-Mechanical-Systems) sensors industry. Many mature applications have already been developed and produced in limited volumes for the automotive, consumer, industrial, medical, and military markets. Plenty of high-volume applications, over 100 million per year, have been calling for low-cost gyroscopes. Bulk silicon is a promising candidate for low-cost gyroscopes due to its large scale availability and maturity of its manufacturing industry. Nevertheless, it is not suitable for a real monolithic IC integration and requires a dedicated packaging. New designs are supposed to eliminate the need for magnets and metal case package, and allow for a real monolithic MEMS-IC (Integrated Circuit) electronic system. In addition, a drastic cost reduction could be achieved by utilizing off-the-shelf plastic packaging with lead frames for the final assembly. The present paper puts forward the design of a novel tri-axial gyroscope based on rotating comb-drives acting as both capacitive sensors and actuators. The comb-drives are comprised of a single monolithic moving component (rotor) and fixed parts (stators). The former is made out of different concentrated masses connected by curved silicon beams in order to decouple the motion signals. The sensor was devised to be fabricated through the PolyMUMPs® process and it is intended for working in air in order to semplify the MEMS-IC monolithic integration

NASA Tech Briefs, April 1991

Topics: New Product Ideas; NASA TU Services; Electronic Components and Circuits; Electronic Systems; Physical Sciences; Materials; Computer Programs; Mechanics; Machinery; Fabrication Technology; Mathematics and Information Sciences; Life Sciences

Kinematics of continuum robots with constant curvature bending and extension capabilities

Continuum robots are becoming increasingly popular due to the capabilities they offer, especially when operating in cluttered environments, where their dexterity, maneuverability, and compliance represent a significant advantage. The subset of continuum robots that also belong to the soft robots category has seen rapid development in recent years, showing great promise. However, despite the significant attention received by these devices, various aspects of their kinematics remain unresolved, limiting their adoption and obscuring their potential. In this paper, the kinematics of continuum robots with the ability to bend and extend are studied, and analytical, closed-form solutions to both the direct and inverse kinematics are presented. The results obtained expose the redundancies of these devices, which are subsequently explored. The solution to the inverse kinematics derived here is shown to provide an analytical, closed-form expression describing the curve associated with these redundancies, which is also presented and analyzed. A condition on the reachable end-effector poses for robots with six actuation degrees-of-freedom (DOFs) is then distilled. The kinematics of robot layouts with over six actuation DOFs are subsequently considered. Finally, simulated results of the inverse kinematics are provided, verifying the study

Advances of Italian Machine Design

This 2028 Special Issue presents recent developments and achievements in the field of Mechanism and Machine Science coming from the Italian community with international collaborations and ranging from theoretical contributions to experimental and practical applications. It contains selected contributions that were accepted for presentation at the Second International Conference of IFToMM Italy, IFIT2018, that has been held in Cassino on 29 and 30 November 2018. This IFIT conference is the second event of a series that was established in 2016 by IFToMM Italy in Vicenza. IFIT was established to bring together researchers, industry professionals and students, from the Italian and the international community in an intimate, collegial and stimulating environment