Geometric Gait Design for a Starfish-Inspired Robot With Curvature-Controlled Soft Actuators

2017 ◽  
Author(s):  
William L. Scott ◽  
Derek A. Paley
Keyword(s):  
Design And Optimization ◽  
Soft Actuator ◽  
Optimization Framework ◽  
Buckling Behavior ◽  
Mathematical Expressions ◽  
Soft Actuators ◽  
The Individual ◽  
Local Connection ◽  
Special Case ◽  
Shape Changes

This paper presents a geometric gait design and optimization framework for an idealized model of a planar starfish-inspired robot with curvature-controlled soft actuator arms. We describe the range of motion for each arm under the assumption of constant curvature along the length. Two modes of attachment of the ends of the arms to the ground are considered: fixed in position and orientation, and fixed in position but free to rotate. For each mode, we derive mathematical expressions for the local connection relating controlled shape changes to the displacement of the robot’s center. For the rotating case, we additionally model the individual arms as ideal elastica beams and design gaits based on expected buckling behavior for a special case of symmetric (mirrored) curvature inputs via numerical simulations.

Design and optimization of actuator for multi-joint soft rehabilitation glove

2021 ◽  
Vol ahead-of-print (ahead-of-print) ◽  
Author(s):  
Xinjie Wang ◽  
Yan Cheng ◽  
Huadong Zheng ◽  
Yihao Li ◽  
Caidong Wang
Keyword(s):  
Constitutive Model ◽  
Element Model ◽  
Longitudinal Section ◽  
Bending Test ◽  
Hand Rehabilitation ◽  
Content Type ◽  
Design And Optimization ◽  
Soft Actuator ◽  
New Type ◽  
Soft Actuators

Purpose Currently, rehabilitation medical care is expensive, requires a large number of rehabilitation therapist and which can only limit in the fixed location. In addition, there is a lack of research on the structure optimization and theoretical analysis of soft actuators for hand rehabilitation. In view of the problems above, this paper aims to propose a cheap, portable, wearable soft multiple joints rehabilitation glove. Design/methodology/approach First, this paper determined the hyperelastic constitutive model by material tensile test. Second, the soft actuator’s internal longitudinal section shape was optimized through the comparison of three diverse chamber structures. Meanwhile, the motion model of the soft actuator is established by the finite element model analysis method. Then, this paper established the constitutive model of the soft actuator according to the torque equilibrium equation and analyzed the relationship between the soft actuator’s bending angle and the input air pressure. This paper has verified that the theoretical model is correct through the soft actuator bending test. Finally, rehabilitation gloves were manufactured according to the model and the rehabilitation performance and grasping ability of gloves were verified through experiments. Findings The optimization results show that the internal semicircular cavity has better performance. Then, the actuator performance is better after adding the external arc structure and optimizing the physical dimension. The experimental results show that the trajectory of the actuator conforms to the mathematical model and rehabilitation gloves can meet the needs of rehabilitation treatment. Practical implications Rehabilitation gloves made of actuators can help patients with hand dysfunction in daily rehabilitation training. Then, it can also assist patients with some fine and complicated hand movements. Originality/value This paper proposes a new type of soft rehabilitation glove, which is composed of new soft actuators and adapting pieces. The new actuator is small enough to be fitted to the knuckle of the glove to move each joint of the finger.

Autonomy and non-autonomy in Drosophila mesoderm determination and morphogenesis

Development ◽  
1994 ◽  
Vol 120 (4) ◽  
pp. 853-859 ◽  
Author(s):  
M. Leptin ◽  
S. Roth
Keyword(s):  
Cell Shape ◽  
Shape Change ◽  
Developmental Program ◽  
Cell Shape Change ◽  
Ventral Furrow ◽  
Large Numbers ◽  
The Individual ◽  
Mutant Cells ◽  
Transplantation Experiments ◽  
Shape Changes

The mesoderm in Drosophila invaginates by a series of characteristic cell shape changes. Mosaics of wild-type cells in an environment of mutant cells incapable of making mesodermal invaginations show that this morphogenetic behaviour does not require interactions between large numbers of cells but that small patches of cells can invaginate independent of their neighbours' behaviour. While the initiation of cell shape change is locally autonomous, the shapes the cells assume are partly determined by the individual cell's environment. Cytoplasmic transplantation experiments show that areas of cells expressing mesodermal genes ectopically at any position in the egg form an invagination. We propose that ventral furrow formation is the consequence of all prospective mesodermal cells independently following their developmental program. Gene expression at the border of the mesoderm is induced by the apposition of mesodermal and non-mesodermal cells.

Multiple Inputs-Single Accumulated Output Mechanism for Soft Linear Actuators

2018 ◽  
Vol 11 (1) ◽  
Author(s):  
Kyeong Ho Cho ◽  
Ho Moon Kim ◽  
Youngeun Kim ◽  
Sang Yul Yang ◽  
Hyouk Ryeol Choi
Keyword(s):  
Artificial Muscle ◽  
Operating Mode ◽  
Robotic Arm ◽  
Soft Actuator ◽  
Wearable Robots ◽  
Working Principle ◽  
Linear Actuators ◽  
Soft Actuators ◽  
Muscle Actuators ◽  
Further Development

Soft linear actuators (SLAs) such as shape memory alloy (SMA) wires, pneumatic soft actuators, dielectric elastomer actuator, and twisted and coiled soft actuator (TCA) called artificial muscle actuators in general, have many advantages over the conventional actuators. SLAs can realize innovative robotic technologies like soft robots, wearable robots, and bionic arms in the future, but further development is still needed in real applications because most SLAs do not provide large displacement or force as needed. This paper presents a novel mechanism supplementing SLAs by accumulating the displacement of multiple SLAs. It adopts the principle of differential gears in reverse. Since the input units of the mechanism are extensible, more displacement can be accumulated by increasing the number of the input units as many as needed. The mechanism is basically used to accumulate displacements, but can be used to accumulate forces by changing its operating mode. This paper introduces the design and working principle of the mechanism and validates its operation experimentally. In addition, the mechanism is implemented on a robotic arm and its effectiveness is confirmed.

Examining the Coiling Motion of Soft Actuators Reinforced With Tilted Helix Fibers

2018 ◽  
Author(s):  
Ryan Geer ◽  
Suyi Li
Keyword(s):  
Longitudinal Axis ◽  
Robotic Manipulation ◽  
Proof Of Concept ◽  
Soft Actuator ◽  
Kevlar Fiber ◽  
New Family ◽  
End Caps ◽  
Soft Actuators ◽  
Unique Cell ◽  
Cell Wall Architecture

This study aims to examine the coiling and uncoiling motion of a soft pneumatic actuator reinforced with tilted helix fibers. Coiling motion can be quite useful for robotic manipulation and locomotion purposes. This research proposes and investigates a novel actuator that is inspired and derived from the unique cell wall architecture in the seed appendage of Stork’s Bill plant (Erodium Gruinum). These plant cells are reinforced by cellulose fibers distributed in a tilted helix pattern — helixes that are tilted at a certain angle with respect to the longitudinal axis of the cell. As a result, the seed appendage can coil and uncoil via a combination of twisting and bending. This paper discusses the design, fabrication, and testing of a soft actuator that can mimic this sophisticated motion. This actuator consists of Kevlar fiber thread wrapped around a silicon rubber body that has the shape of a tube. The tube will be capped at both ends so that it can be pressurized internally to induce motion. Once the design parameter has been chosen, the soft actuator are fabricated by 1) designing and 3D printing molds, 2) tube casting and fiber wrapping, and 3) creating the end caps for pressure sealing. Carefully executing these fabrication steps is essential because any errors could give undesired deformation. Several soft actuators prototypes are fabricated based on different design choices regarding the actuator radius, tube wall thickness, and the number of tilted helix fibers (aka. fiber coverage). Proof-of-concept tests show that these actuator prototypes can indeed exhibit a combined twisting and bending under internal pressurization: all are the necessary receipts to achieve the coiling and uncoiling motion. Result of this paper can pave the way for a new family of soft actuators capable of unprecedented and sophisticated actuation motions, which are particularly appealing for soft robot application.

Post-Buckling of Piezoelectric Thin Plates

2015 ◽  
Vol 15 (07) ◽  
pp. 1540020 ◽  
Author(s):  
Michael Krommer ◽  
Hans Irschik
Keyword(s):  
Nonlinear Partial Differential Equation ◽  
Nonlinear Behavior ◽  
Dirichlet Boundary Conditions ◽  
Thin Plates ◽  
Governing Equations ◽  
Simply Supported ◽  
Buckling Behavior ◽  
Single Term ◽  
Post Buckling ◽  
Special Case

In the present paper, the geometrically nonlinear behavior of piezoelastic thin plates is studied. First, the governing equations for the electromechanically coupled problem are derived based on the von Karman–Tsien kinematic assumption. Here, the Berger approximation is extended to the coupled piezoelastic problem. The general equations are then reduced to a single nonlinear partial differential equation for the special case of simply supported polygonal edges. The nonlinear equations are approximated by using a problem-oriented Ritz Ansatz in combination with a Galerkin procedure. Based on the resulting equations the buckling and post-buckling behavior of a polygonal simply supported plate is studied in a nondimensional form, where the special geometry of the polygonal plate enters via the eigenvalues of a Helmholtz problem with Dirichlet boundary conditions. Single term as well as multi-term solutions are discussed including the effects of piezoelectric actuation and transverse force loadings upon the solution. Novel results concerning the buckling, snap through and snap buckling behavior are presented.

Distributed Systems

2020 ◽  
pp. 143-198
Author(s):  
Andreas Bolfing
Keyword(s):  
Distributed Systems ◽  
Fault Tolerant ◽  
Deterministic Algorithm ◽  
Impossibility Result ◽  
Software Systems ◽  
Trade Off ◽  
Byzantine Failures ◽  
The Individual ◽  
Special Case

Chapter 5 considers distributed systems by their properties. The first section studies the classification of software systems, which is usually distinguished in centralized, decentralized and distributed systems. It studies the differences between these three major approaches, showing there is a rather multidimensional classification instead of a linear one. The most important case are distributed systems that enable spreading of computational tasks across several autonomous, independently acting computational entities. A very important result of this case is the CAP theorem that considers the trade-off between consistency, availability and partition tolerance. The last section deals with the possibility to reach consensus in distributed systems, discussing how fault tolerant consensus mechanisms enable mutual agreement among the individual entities in presence of failures. One very special case are so-called Byzantine failures that are discussed in great detail. The main result is the so-called FLP Impossibility Result which states that there is no deterministic algorithm that guarantees solution to the consensus problem in the asynchronous case. The chapter concludes by considering practical solutions that circumvent the impossibility result in order to reach consensus.

scholarly journals Application and Analysis of an Ionic Liquid Gel in a Soft Robot

2019 ◽  
Vol 2019 ◽  
pp. 1-14
Author(s):  
Chenghong Zhang ◽  
Bin He ◽  
Zhipeng Wang ◽  
Yanmin Zhou ◽  
Aiguo Ming
Keyword(s):  
Ionic Liquid ◽  
Uv Light ◽  
Electroactive Polymers ◽  
Electroactive Polymer ◽  
Soft Robot ◽  
Polymer Gel ◽  
Basic Module ◽  
Soft Actuator ◽  
New Type ◽  
Soft Actuators

Due to their light weight, flexibility, and low energy consumption, ionic electroactive polymers have become a hotspot for bionic soft robotics and are ideal materials for the preparation of soft actuators. Because the traditional ionic electroactive polymers, such as ionic polymer-metal composites (IPMCs), contain water ions, a soft actuator does not work properly upon the evaporation of water ions. An ionic liquid polymer gel is a new type of ionic electroactive polymer that does not contain water ions, and ionic liquids are more thermally and electrochemically stable than water. These liquids, with a low melting point and a high ionic conductivity, can be used in ionic electroactive polymer soft actuators. An ionic liquid gel (ILG), a new type of soft actuator material, was obtained by mixing 1-butyl-3-methylimidazolium tetrafluoroborate (BMIMBF4), hydroxyethyl methacrylate (HEMA), diethoxyacetophenone (DEAP) and ZrO2 and then polymerizing this mixture into a gel state under ultraviolet (UV) light irradiation. An ILG soft actuator was designed, the material preparation principle was expounded, and the design method of the soft robot mechanism was discussed. Based on nonlinear finite element theory, the deformation mechanism of the ILG actuator was deeply analyzed and the deformation of the soft robot when grabbing an object was also analyzed. A soft robot was designed with the soft actuator as the basic module. The experimental results show that the ILG soft robot has good driving performance, and the soft robot can grab a 105 mg object at an input voltage of 3.5 V.

Visualization of Individual Growth-Related Craniofacial Changes Based on Cephalometric Landmark Data: A Pilot Study

2002 ◽  
Vol 39 (3) ◽  
pp. 341-352 ◽  
Author(s):  
Christopher J. Lux ◽  
Jens Starke ◽  
Jan Rübel ◽  
Angelika Stellzig ◽  
Gerda Komposch
Keyword(s):  
Dynamic Behavior ◽  
Growth Process ◽  
Shape Change ◽  
Individual Growth ◽  
Craniofacial Skeleton ◽  
Size And Shape ◽  
Lateral Cephalograms ◽  
Landmark Data ◽  
The Individual ◽  
Shape Changes

Objective: An approach based on Euclidean distances between cephalometric landmarks is presented (1) to visualize and localize the individual shape changes of the complex craniofacial skeleton during growth and (2) to depict the individual dynamic behavior of developmental size and shape changes. Patients and Method: Growth-related craniofacial changes were investigated exemplarily for two male orthodontically untreated subjects from the Belfast Growth Study on the basis of lateral cephalograms at 7, 9, 11, 13, and 15 years. The interlandmark distances among seven skeletal cephalometric landmarks served as a database for the study. A modified Karhunen-Loèvedecomposition based on orthogonal modes and time-dependent scalar amplitudes was used to describe the growth process. The individual shape changes of the various craniofacial regions were visualized by allocation of colors to the respective distances, and overdrawn representations were reconstructed by means of multidimensional scaling. Results and Conclusions: This visualization technique allows anatomical regions to be characterized with respect to reduced or strengthened growth, compared with pure size changes. The clinically relevant mechanisms of craniofacial changes are visualized (e.g., shifts in the anteroposterior or vertical dimensions of the jaws in relation to cranial base and structural imbalances during development). In addition, overdrawing the effects of shape change on the skeletal structures gives a more readily comprehensible impression of the growth process. Taking account of the methodical limitations of this approach (e.g., the restrictions concerning the number of landmarks), the clinician may take advantage of this technique in orthodontic or surgical diagnostics to gain additional insight into the individual complex size and shape changes during development along with their dynamic behavior.

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