Exploiting Morphology of a Soft Manipulator for Assistive Tasks

2017 ◽  
pp. 291-301 ◽  
Author(s):  
Mariangela Manti ◽  
Thomas George Thuruthel ◽  
Francesco Paolo Falotico ◽  
Andrea Pratesi ◽  
Egidio Falotico ◽  
...  
Keyword(s):  
Soft Manipulator

scholarly journals Preliminary Analysis of a Lightweight and Deployable Soft Robot for Space Applications

2021 ◽  
Vol 11 (6) ◽  
pp. 2558
Author(s):  
Mario Troise ◽  
Matteo Gaidano ◽  
Pierpaolo Palmieri ◽  
Stefano Mauro
Keyword(s):  
Preliminary Analysis ◽  
Inverse Kinematics ◽  
Control Algorithm ◽  
Dynamic Models ◽  
Robotic Systems ◽  
Inflation Pressure ◽  
Space Applications ◽  
Space Industry ◽  
Rigid Body Model ◽  
Soft Manipulator

The rising interest in soft robotics, combined to the increasing applications in the space industry, leads to the development of novel lightweight and deployable robotic systems, that could be easily contained in a relatively small package to be deployed when required. The main challenges for soft robotic systems are the low force exertion and the control complexity. In this manuscript, a soft manipulator concept, having inflatable links, is introduced to face these issues. A prototype of the inflatable link is manufactured and statically characterized using a pseudo-rigid body model on varying inflation pressure. Moreover, the full robot model and algorithms for the load and pose estimation are presented. Finally, a control strategy, using inverse kinematics and an elastostatic approach, is developed. Experimental results provide input data for the control algorithm, and its validity domain is discussed on the basis of a simulation model. This preliminary analysis puts the basis of future advancements in building the robot prototype and developing dynamic models and robust control.

scholarly journals Kinematics analysis of pneumatic soft manipulator

2021 ◽  
Vol 1754 (1) ◽  
pp. 012147
Author(s):  
Lijun Shan ◽  
Yunfei Li
Keyword(s):  
Kinematics Analysis ◽  
Soft Manipulator

Shape Detection Algorithm for Soft Manipulator Based on Fiber Bragg Gratings

2016 ◽  
Vol 21 (6) ◽  
pp. 2977-2982 ◽  
Author(s):  
Hesheng Wang ◽  
Runxi Zhang ◽  
Weidong Chen ◽  
Xinwu Liang ◽  
Rolf Pfeifer
Keyword(s):  
Fiber Bragg Gratings ◽  
Bragg Gratings ◽  
Detection Algorithm ◽  
Shape Detection ◽  
Soft Manipulator

scholarly journals Variable Stiffness Analysis on a Pneumatic Soft Manipulator

2020 ◽  
Vol 56 (9) ◽  
pp. 36 ◽  
Author(s):  
YAO Ligang ◽  
LI Jingyi ◽  
DONG Hui
Keyword(s):  
Variable Stiffness ◽  
Stiffness Analysis ◽  
Soft Manipulator

scholarly journals Dynamics and trajectory optimization for a soft spatial fluidic elastomer manipulator

2015 ◽  
Vol 35 (8) ◽  
pp. 1000-1019 ◽  
Author(s):  
Andrew D. Marchese ◽  
Russ Tedrake ◽  
Daniela Rus
Keyword(s):  
Trajectory Optimization ◽  
Open Loop ◽  
Optimization Techniques ◽  
Manipulation System ◽  
Physical Prototype ◽  
Loading Effects ◽  
Hard Problems ◽  
Experimental Trials ◽  
Soft Manipulator ◽  
Multi Body

The goal of this work is to develop a soft-robotic manipulation system that is capable of autonomous, dynamic, and safe interactions with humans and its environment. First, we develop a dynamic model for a multi-body fluidic elastomer manipulator that is composed entirely from soft rubber and subject to the self-loading effects of gravity. Then, we present a strategy for independently identifying all of the unknown components of the system; these are the soft manipulator, its distributed fluidic elastomer actuators, as well as the drive cylinders that supply fluid energy. Next, using this model and trajectory-optimization techniques we find locally-optimal open-loop policies that allow the system to perform dynamic maneuvers we call grabs. In 37 experimental trials with a physical prototype, we successfully perform a grab 92% of the time. Last, we introduce the idea of static bracing for a soft elastomer arm and discuss how forming environmental braces might be an effective manipulation strategy for this class of robots. By studying such an extreme example of a soft robot, we can begin to solve hard problems inhibiting the mainstream use of soft machines.

Design and Implement of Shape Detection for the Soft Manipulator

2020 ◽  
Author(s):  
Shuangquan Zou ◽  
Yueyong Lv ◽  
Yuanchen Man ◽  
Weidi Han
Keyword(s):  
Shape Detection ◽  
Soft Manipulator

scholarly journals Tendon-Based Stiffening for a Pneumatically Actuated Soft Manipulator

2016 ◽  
Vol 1 (2) ◽  
pp. 632-637 ◽  
Author(s):  
Ali Shiva ◽  
Agostino Stilli ◽  
Yohan Noh ◽  
Angela Faragasso ◽  
Iris De Falco ◽  
...  
Keyword(s):  
Soft Manipulator

Static modeling and analysis of soft manipulator considering environment contact based on segmented constant curvature method

2020 ◽  
Vol ahead-of-print (ahead-of-print) ◽  
Author(s):  
Yinglong Chen ◽  
Wenshuo Li ◽  
Yongjun Gong
Keyword(s):  
Contact Force ◽  
Constant Curvature ◽  
Kinematic Model ◽  
Fluid Pressure ◽  
Conservation Equation ◽  
Detection Accuracy ◽  
Content Type ◽  
Comparison Results ◽  
Static Modeling ◽  
Soft Manipulator

Purpose The purpose of this paper is to estimate the deformation of soft manipulators caused by obstacles accurately and the contact force and workspace can be also predicted. Design/methodology/approach The continuum deformation of the backbone of the soft manipulator under contact is regarded as two constant curvature arcs and the curvatures are different according to the fluid pressure and obstacle location based on piecewise constant curvature framework. Then, this study introduces introduce the moment balance and energy conservation equation to describe the static relationship between driving moment, elastic moment and contact moment. Finally, simulation and experiments are carried out to verify the accuracy of the proposed model. Findings For rigid manipulators, environmental contact except for the manipulated object was usually considered as a “collision” which should be avoided. For soft manipulators, an environment is an important tool for achieving manipulation goals and it might even be considered to be a part of the soft manipulator’s end-effector in some specified situations. Research limitations/implications There are also some limitations to the presented study. Although this paper has made progress in the static modeling under environmental contact, some practical factors still limit the further application of the model, such as the detection accuracy of the environment location and the deformation of the contact surface. Originality/value Based on the proposed kinematic model, the bending deformation with environmental contact is discussed in simulations and has been experimentally verified. The comparison results show the correctness and accuracy of the presented SCC model, which can be applied to predict the slender deformation under environmental contact without knowing the contact force.

Sign in / Sign up

Export Citation Format

Share Document