Design and Fabrication of a Soft Robotic Hand With Embedded Actuators and Sensors

2015 ◽  
Vol 7 (2) ◽  
Author(s):  
Yu She ◽  
Chang Li ◽  
Jonathon Cleary ◽  
Hai-Jun Su
Keyword(s):  
Response Time ◽  
Power Efficiency ◽  
Shape Recovery ◽  
Robotic Hand ◽  
Fully Integrated ◽  
Precise Control ◽  
Thermally Conductive ◽  
3D Printed ◽  
Sma Actuator ◽  
Human Operators

This paper details the design and fabrication process of a fully integrated soft humanoid robotic hand with five finger that integrate an embedded shape memory alloy (SMA) actuator and a piezoelectric transducer (PZT) flexure sensor. Several challenges including precise control of the SMA actuator, improving power efficiency, and reducing actuation current and response time have been addressed. First, a Ni-Ti SMA strip is pretrained to a circular shape. Second, it is wrapped with a Ni-Cr resistance wire that is coated with thermally conductive and electrically isolating material. This design significantly reduces actuation current, improves circuit efficiency, and hence reduces response time and increases power efficiency. Third, an antagonistic SMA strip is used to improve the shape recovery rate. Fourth, the SMA actuator, the recovery SMA strip, and a flexure sensor are inserted into a 3D printed mold which is filled with silicon rubber materials. The flexure sensor feeds back the finger shape for precise control. Fifth, a demolding process yields a fully integrated multifunctional soft robotic finger. We also fabricated a hand assembled with five fingers and a palm. We measured its performance and specifications with experiments. We demonstrated its capability of grasping various kinds of regular or irregular objects. The soft robotic hand is very robust and has a large compliance, which makes it ideal for use in an unstructured environment. It is inherently safe to human operators as it can withstand large impacts and unintended contacts without causing any injury to human operators or damage to the environment.

Biomimetic Design of 3D Printed Tissue-engineered bone Constructs

2020 ◽  
Vol 16 ◽  
Author(s):  
Wei Liu ◽  
Shifeng Liu ◽  
Yunzhe Li ◽  
Peng Zhou ◽  
Qian ma
Keyword(s):  
Tissue Engineering ◽  
3D Printing ◽  
Advanced Materials ◽  
Bionic Design ◽  
Material Interfaces ◽  
Precise Control ◽  
Cell Printing ◽  
Biomimetic Scaffolds ◽  
3D Printed

Abstract:: Surgery to repair damaged tissue, which is caused by disease or trauma, is being carried out all the time, and a desirable treatment is compelling need to regenerate damaged tissues to further improve the quality of human health. Therefore, more and more research focus on exploring the most suitable bionic design to enrich available treatment methods. 3D-printing, as an advanced materials processing approach, holds promising potential to create prototypes with complex constructs that could reproduce primitive tissues and organs as much as possible or provide appropriate cell-material interfaces. In a sense, 3D printing promises to bridge between tissue engineering and bionic design, which can provide an unprecedented personalized recapitulation with biomimetic function under the precise control of the composition and spatial distribution of cells and biomaterials. This article describes recent progress in 3D bionic design and the potential application prospect of 3D printing regenerative medicine including 3D printing biomimetic scaffolds and 3D cell printing in tissue engineering.

scholarly journals Microchannelled alkylated chitosan sponge to treat noncompressible hemorrhages and facilitate wound healing

2021 ◽  
Vol 12 (1) ◽  
Author(s):  
Xinchen Du ◽  
Le Wu ◽  
Hongyu Yan ◽  
Zhuyan Jiang ◽  
Shilin Li ◽  
...  
Keyword(s):  
Wound Healing ◽  
Shape Recovery ◽  
Parenchymal Cell ◽  
Gelatin Sponge ◽  
Defect Model ◽  
Liver Parenchymal Cell ◽  
E Coli ◽  
Tissue Integration ◽  
3D Printed

AbstractDeveloping an anti-infective shape-memory hemostatic sponge able to guide in situ tissue regeneration for noncompressible hemorrhages in civilian and battlefield settings remains a challenge. Here we engineer hemostatic chitosan sponges with highly interconnective microchannels by combining 3D printed microfiber leaching, freeze-drying, and superficial active modification. We demonstrate that the microchannelled alkylated chitosan sponge (MACS) exhibits the capacity for water and blood absorption, as well as rapid shape recovery. We show that compared to clinically used gauze, gelatin sponge, CELOX™, and CELOX™-gauze, the MACS provides higher pro-coagulant and hemostatic capacities in lethally normal and heparinized rat and pig liver perforation wound models. We demonstrate its anti-infective activity against S. aureus and E. coli and its promotion of liver parenchymal cell infiltration, vascularization, and tissue integration in a rat liver defect model. Overall, the MACS demonstrates promising clinical translational potential in treating lethal noncompressible hemorrhage and facilitating wound healing.

CORA hand: a 3D printed robotic hand designed for robustness and compliance

Meccanica ◽  
2020 ◽  
Vol 55 (8) ◽  
pp. 1623-1638
Author(s):  
Daniele Leonardis ◽  
Antonio Frisoli
Keyword(s):  
Robotic Hand ◽  
3D Printed

scholarly journals The development of a fully integrated 3D printed electrochemical platform and its application to investigate the chemical reaction between carbon dioxide and hydrazine

2020 ◽  
Vol 360 ◽  
pp. 136984 ◽  
Author(s):  
João Giorgini Escobar ◽  
Eva Vaněčková ◽  
Štěpánka Nováková Lachmanová ◽  
Federico Vivaldi ◽  
Jan Heyda ◽  
...  
Keyword(s):  
Carbon Dioxide ◽  
Chemical Reaction ◽  
Fully Integrated ◽  
3D Printed

A 12-bit 350 MS/s Single-Channel Pipeline ADC with 75 dB SFDR in 0.18 μm BiCMOS

2019 ◽  
Vol 28 (03) ◽  
pp. 1950044
Author(s):  
Jie Sun ◽  
Jianhui Wu
Keyword(s):  
Power Efficiency ◽  
Single Channel ◽  
Pipeline Adc ◽  
Fully Integrated ◽  
Rejection Ratio ◽  
Power Supply Rejection Ratio ◽  
Low Leakage ◽  
Low Leakage Current ◽  
Sige Bicmos ◽  
Supply Rejection

A 12-bit 350[Formula: see text]MS/s ADC with 75[Formula: see text]dB SFDR fabricated in 0.18[Formula: see text][Formula: see text]m SiGe BiCMOS process is presented. To improve the power efficiency, the ADC employs a novel residue amplifier (RA) by exploiting the hetero-junction bipolar transistor (HBT). We also propose a fast comparator to save time for the residue settling of pipeline stages. A fully integrated reference buffer with “negative bootstrap power” (NBP) is proposed to improve both high power supply rejection ratio (PSRR) and ground supply rejection ratio (GSRR). A bandgap reference (BGR) with ultra-low leakage current start-up loop is also presented. The measured results show that with Nyquist input, the SFDR achieves 75[Formula: see text]dB and 63[Formula: see text]dB SNDR up to 350[Formula: see text]MS/s and consumes 180[Formula: see text]mW (only ADC core) with 580[Formula: see text]fj/cov Waldon FOM.

Wet SMA Actuator Array With Matrix Vasoconstriction Device

2005 ◽  
Author(s):  
Leslie Flemming ◽  
Stephen Mascaro
Keyword(s):  
System Architecture ◽  
Cold Water ◽  
Fluid Flows ◽  
Robotic Hand ◽  
Dynamic Effects ◽  
Flow Rates ◽  
Human Forearm ◽  
Sma Actuator ◽  
Fluidic Resistance ◽  
2D Array

A new mechanism for controlling arrays of Shape Memory Alloy (SMA) muscle wires has been developed. Similar to previous work, SMA wires on the order of 0.25 mm in diameter are embedded in a network of compliant fluid filled vessels on the order of 1 mm in diameter. Hot and cold water are delivered through the vascular network to convectively heat and cool the SMA muscles, causing them to contract and extend. By arranging the muscles or actuators in a 2D array, n2 actuators can be controlled using 2n valves, where the valves control the flow to and from rows and columns of actuators. However, unlike the previous Matrix Manifold and Valve system (MMV), the fluid flows to the actuators are now controlled using a Matrix Vasoconstriction Device (MVD). The MVD is capable of constricting combinations of the vessels, which are arranged in rows and columns. The MVD does not introduce any fluidic resistance to the network until constricted, allowing for larger flow rates and faster muscle cycling. The MVD system architecture also removes undesired dynamic effects stemming from fluidic capacitance which were suffered by the MMV. An array of 16 muscle wires has been experimentally implemented using an MVD with 8 control inputs. The MVD has been constructed in a 50 mm × 50 mm × 60 mm volume, and the overall length of the actuators is 500 mm. The system will drive each SMA wire at a rate of 2 Hz with a force of 10 N and a stroke of 10 mm. The system could control a robotic hand with up to 16 DOF and fit within the size of a human forearm.

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