Actuation And Sensing In Soft Robots

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Bioinspired Sensing, Actuation, and Control in Underwater Soft Robotic Systems

Author : Derek A. Paley
Publisher : Springer Nature
ISBN 13 : 303050476X
Total Pages : 301 pages
Book Rating : 4.0/5 (35 download)

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Book Synopsis Bioinspired Sensing, Actuation, and Control in Underwater Soft Robotic Systems by : Derek A. Paley

Download or read book Bioinspired Sensing, Actuation, and Control in Underwater Soft Robotic Systems written by Derek A. Paley and published by Springer Nature. This book was released on 2020-11-06 with total page 301 pages. Available in PDF, EPUB and Kindle. Book excerpt: This book includes representative research from the state‐of‐the‐art in the emerging field of soft robotics, with a special focus on bioinspired soft robotics for underwater applications. Topics include novel materials, sensors, actuators, and system design for distributed estimation and control of soft robotic appendages inspired by the octopus and seastar. It summarizes the latest findings in an emerging field of bioinspired soft robotics for the underwater domain, primarily drawing from (but not limited to) an ongoing research program in bioinspired autonomous systems sponsored by the Office of Naval Research. The program has stimulated cross‐disciplinary research in biology, material science, computational mechanics, and systems and control for the purpose of creating novel robotic appendages for maritime applications. The book collects recent results in this area.

Actuation and Sensing in Soft Robots

Author : Narahari Srikanth Iyengar
Publisher :
ISBN 13 :
Total Pages : 0 pages
Book Rating : 4.:/5 (14 download)

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Book Synopsis Actuation and Sensing in Soft Robots by : Narahari Srikanth Iyengar

Download or read book Actuation and Sensing in Soft Robots written by Narahari Srikanth Iyengar and published by . This book was released on 2020 with total page 0 pages. Available in PDF, EPUB and Kindle. Book excerpt: Spacesuits are important garments that are necessary to protect humans from the harsh environment of space. This includes protection from vacuum, extreme temperatures, radiation, space dust and so on. These spacesuits are pressurized and composed of 14 layers of material -making them bulky and difficult to move in. The strain of performing tasks for long hours in these suits causes fatigue and injuries, thus leading to suboptimal performances that can impact mission success. To address these issues, we propose a soft-robotic knee actuator that can provide an additional torque to aid in the bending of the knee. This exoskeletal actuator is composed of an elastomeric polyurethane (Carbon EPU 40) that can be powered by the pressure that exists within the spacesuit. It is soft, conformable and does not contain any rigid parts. The lack of a distal support system to power it makes it easy to implement and safe to operate. The biomechanical analysis of the EMU spacesuit with our soft-robotic actuator demonstrates the benefits that can be provided to the astronauts. Sensory organs enable us to interact with the environment. The human skin is the largest sensory organ, in terms of surface area, spanning 1.5 - 2 square meters in an average human adult. It covers the entire body and provides a wealth of information about the environment. We hypothesize that a synthetic skin capable of multi-modal sensing is a necessary component for a robot to interact with its environment with the same dexterity as animals. The synthetic skin we composed is a multilayer system embedded with optical waveguides that can sense external stimuli such as force, location, temperature and gestures. We use machine learning to model an unknown system and interpret data from the waveguides to enable the development of force, location, temperature and gestures models. As a proof of concept, we have developed a prosthetic arm composed of this synthetic skin that can detect and differentiate between multiple tactile stimuli such as force and temperature. Our skin may find applications in robotic skins and soft orthotics.

Enabling Soft Robotic Systems

Author : Mohammed Al-Rubaiai
Publisher :
ISBN 13 :
Total Pages : 119 pages
Book Rating : 4.7/5 (599 download)

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Book Synopsis Enabling Soft Robotic Systems by : Mohammed Al-Rubaiai

Download or read book Enabling Soft Robotic Systems written by Mohammed Al-Rubaiai and published by . This book was released on 2021 with total page 119 pages. Available in PDF, EPUB and Kindle. Book excerpt: Soft robots have appealing advantages of being highly flexible and adaptable to complex environments. This dissertation is focused on advancing key enabling elements for soft robots, including providing new solutions to stiffness-tuning, integrated sensing, and modeling and control of soft actuation materials.First, a compact and cost-effective mechanism for stiffness-tuning is proposed based on a 3D-printed conductive polylactic acid (CPLA) material. The conductive nature of the CPLA allows convenient control of temperature and stiffness via Joule heating in a reversible manner. A gripper composed of two soft actuators as fingers is fabricated to demonstrate localized gripping posture, passive shape holding, and the ability to carry load in a desired locked configuration.Second, two types of integrated sensors are proposed. The first type is 3D-printed strain sensors that can be co-fabricated with soft robot bodies. Three commercially available conductive filaments are explored, among which the conductive thermoplastic polyurethane (ETPU) filament shows the highest sensitivity (gauge factor of 20) and working strain range of 0%-12.5%. The ETPU strain sensor exhibits an interesting behavior where the conductivity increases with the strain. In addition, the resistance change of the ETPU sensor in a doubly-clamped configuration in response to a wind stimulus is characterized, and the sensor shows sensitivity to wind velocity beyond 3.5 m/s.We then present a soft pressure-mapping sensing system that is lightweight and low-cost, and can be integrated with inflatable or textile structures with minimal impact on the original substrate characteristics. The sensing system involves two layers of piezoresistive foil and three layers of conductive copper sheets, stacked on top of each other in an orderly manner, to detect the magnitude and the location of applied load, respectively. Extensive experiments on a sensor prototype with dimensions of 35x500 mm mounted on an inflatable tube are conducted to demonstrate the capability of the proposed scheme in simultaneous measurement of deformation location and magnitude. In particular, it is shown that the specific design approach minimizes the coupling of location and magnitude measurements, resulting in minimal complexity for data processing.Finally, we investigate the modeling and control of soft actuation materials, specifically accommodating their nonlinear dynamics. Polyvinyl chloride (PVC) gel actuators are considered in this work. A nonlinear, control-oriented Hammerstein model, with a polynomial nonlinearity preceding a transfer function, is proposed to capture the amplitude and bias-dependent frequency response of PVC gel actuators. A trajectory-tracking controller is developed, where an inverse is used to cancel the effect of the nonlinearity and a disturbance estimator/compensator is adopted to mitigate the influence of model uncertainties and disturbances. The efficacy of the proposed modeling and control approach is demonstrated experimentally in comparison with alternative methods, where the PVC actuator is commanded to track references of varying frequencies and waveforms.

Soft Robots for Healthcare Applications

Author : Shane Xie
Publisher : IET
ISBN 13 : 1785613111
Total Pages : 238 pages
Book Rating : 4.7/5 (856 download)

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Book Synopsis Soft Robots for Healthcare Applications by : Shane Xie

Download or read book Soft Robots for Healthcare Applications written by Shane Xie and published by IET. This book was released on 2017-07-20 with total page 238 pages. Available in PDF, EPUB and Kindle. Book excerpt: Robot-assisted healthcare offers benefits for repetitive, intensive and task specific training compared to traditional manual manipulation performed by physiotherapists. However, a majority of existing rehabilitation devices use rigid actuators such as electric motors or hydraulic cylinders which cannot guarantee the safety of patients. This book provides biomedical engineering and robotics professionals and students with the fundamental mechatronic engineering knowledge to analyze and design new soft robotic devices. The authors present a systematic investigation of the design, modelling, methods, and control methods, implementation and novel applications of mechatronics to provide better clinical rehabilitation services and new insights into emerging technologies utilized in soft robots for healthcare.

Soft Robotics

Author : Alexander Verl
Publisher : Springer
ISBN 13 : 3662445069
Total Pages : 293 pages
Book Rating : 4.6/5 (624 download)

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Book Synopsis Soft Robotics by : Alexander Verl

Download or read book Soft Robotics written by Alexander Verl and published by Springer. This book was released on 2015-03-13 with total page 293 pages. Available in PDF, EPUB and Kindle. Book excerpt: The research areas as well as the knowledge gained for the practical use of robots are growing and expanding beyond manufacturing and industrial automation, making inroads in sectors such as health care and terrain sensing, as well as general assistive systems working in close interaction with humans. In a situation like this, it is necessary for future robot systems to become less stiff and more specialized by taking inspiration from the mechanical compliance and versatility found in natural materials and organisms. At present, a new discipline is emerging in this area, called »Soft Robotics«. It particularly challenges the traditional thinking of engineers, as the confluence of technologies, ranging from new materials, sensors, actuators and production techniques to new design tools, will make it possible to create new systems whose structures are almost completely made of soft materials, which bring about entirely new functions and behaviors, similar in many ways to natural systems. These Proceedings focus on four main topics: • Soft Actuators and Control • Soft Interactions • Soft Robot Assistants: Potential and Challenges • Human-centered »Soft Robotics«.

Vision-based Proprioceptive and Force Sensing for Soft Robotic Actuator

Author : Annan Zhang (Researcher in electrical engineering and computer science)
Publisher :
ISBN 13 :
Total Pages : 0 pages
Book Rating : 4.:/5 (135 download)

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Book Synopsis Vision-based Proprioceptive and Force Sensing for Soft Robotic Actuator by : Annan Zhang (Researcher in electrical engineering and computer science)

Download or read book Vision-based Proprioceptive and Force Sensing for Soft Robotic Actuator written by Annan Zhang (Researcher in electrical engineering and computer science) and published by . This book was released on 2022 with total page 0 pages. Available in PDF, EPUB and Kindle. Book excerpt: Developing reliable control strategies for soft robots requires advances in soft robot perception. Due to their near-infinite degrees of freedom, obtaining useful sensory feedback from soft robots remains a long-standing challenge. Moreover, sensorization methods must be co-developed with more robust approaches to soft robotic actuation. However, current soft robotic sensors pose many performance limitations, and available materials and manufacturing techniques complicate the design of sensorized soft robots. To address these needs, we introduce a vision-based method to sensorize robust, electrically-driven soft robotic actuators constructed from a new class of architected materials. Specifically, we position cameras within the hollow interiors of actuators based on handed shearing auxetics (HSA) to record their deformation. Using external motion capture data as ground truth, we train a convolutional neural network (CNN) that maps the visual feedback to the pose of the actuator's tip. Our model provides predictions of tip pose with sub-millimeter accuracy from only six minutes of training data, while remaining lightweight with 300,000 parameters and an inference time of 18 milliseconds per frame on a single-board computer. We also develop a model that additionally predicts the horizontal tip force acting on the actuator and demonstrate its ability to generalize to previously unseen forces. Overall, our methods present a reliable vision-based approach for designing sensorized soft robots built from electrically-actuated, architected materials.

Human-Like Advances in Robotics: Motion, Actuation, Sensing, Cognition and Control

Author : Tadej Petric
Publisher : Frontiers Media SA
ISBN 13 : 2889632652
Total Pages : 129 pages
Book Rating : 4.8/5 (896 download)

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Book Synopsis Human-Like Advances in Robotics: Motion, Actuation, Sensing, Cognition and Control by : Tadej Petric

Download or read book Human-Like Advances in Robotics: Motion, Actuation, Sensing, Cognition and Control written by Tadej Petric and published by Frontiers Media SA. This book was released on 2019-12-24 with total page 129 pages. Available in PDF, EPUB and Kindle. Book excerpt:

The Science of Soft Robots

Author : Koichi Suzumori
Publisher : Springer Nature
ISBN 13 : 9811951748
Total Pages : 411 pages
Book Rating : 4.8/5 (119 download)

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Book Synopsis The Science of Soft Robots by : Koichi Suzumori

Download or read book The Science of Soft Robots written by Koichi Suzumori and published by Springer Nature. This book was released on 2023-10-14 with total page 411 pages. Available in PDF, EPUB and Kindle. Book excerpt: The goal of this textbook is to equip readers with as structured knowledge of soft robotics as possible. Seeking to overcome the limitations of conventional robots by making them more flexible, gentle and adaptable, soft robotics has become one of the most active fields over the last decade. Soft robotics is also highly interdisciplinary, bringing together robotics, computer science, material science, biology, etc. After the introduction, the content is divided into three parts: Design of Soft Robots; Soft Materials; and Autonomous Soft Robots. Part I addresses soft mechanisms, biological mechanisms, and soft manipulation & locomotion. In Part II, the basics of polymer, biological materials, flexible & stretchable sensors, and soft actuators are discussed from a materials science standpoint. In turn, Part III focuses on modeling & control of continuum bodies, material intelligence, and information processing using soft body dynamics. In addition, the latest research results and cutting-edge research are highlighted throughout the book. Written by a team of researchers from highly diverse fields, the work offers a valuable textbook or technical guide for all students, engineers and researchers who are interested in soft robotics.

Electromagnetic Actuation and Sensing in Medical Robotics

Author : Hongliang Ren
Publisher : Springer
ISBN 13 : 9811060355
Total Pages : 221 pages
Book Rating : 4.8/5 (11 download)

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Book Synopsis Electromagnetic Actuation and Sensing in Medical Robotics by : Hongliang Ren

Download or read book Electromagnetic Actuation and Sensing in Medical Robotics written by Hongliang Ren and published by Springer. This book was released on 2017-12-30 with total page 221 pages. Available in PDF, EPUB and Kindle. Book excerpt: This book highlights electromagnetic actuation (EMA) and sensing systems for a broad range of applications including targeted drug delivery, drug-release-rate control, catheterization, intravitreal needleless injections, wireless magnetic capsule endoscopy, and micromanipulations. It also reviews the state-of-the-art magnetic actuation and sensing technologies with remotely controlled targets used in biomedicine.

Soft Robotics

Author : Gareth J. Monkman
Publisher : Bentham Science Publishers
ISBN 13 : 9815051733
Total Pages : 179 pages
Book Rating : 4.8/5 (15 download)

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Book Synopsis Soft Robotics by : Gareth J. Monkman

Download or read book Soft Robotics written by Gareth J. Monkman and published by Bentham Science Publishers. This book was released on 2022-04-08 with total page 179 pages. Available in PDF, EPUB and Kindle. Book excerpt: Soft robotics is a subfield of robotics that encompasses the design and fabrication of robots with soft and compliant materials. Soft robots represent components like human prosthetics or biomimicking systems. Soft robotics relies on technically astute designs based on the correct choice of materials to enable a level of dexterity not possible with rigid components alone. The basic prime movers (actuators) and perception (sensors) require control systems capable of accommodating imprecise feedback data and often unpredictable reaction times. Mobility in such robots is more akin to entomological or marine systems than conventional guided vehicles. This reference is a guide to materials and systems used in soft robotics. If features 6 chapters contributed by robotics experts that review fundamental and applied topics that are important for understanding the requirements of soft robotics design projects and the physics of the polymers involved. Chapters are organized for easy reading and include references. The topics include: - Aspects of materials processing and engineering for the development of soft robotic devices - A review on biological gripping principles and their application to robotics - Information about self-sensing electroadhesive polymer grippers with magnetically controllable surface geometry - Theoretical and experimental investigations of magnetic hybrid materials - Modeling and dynamic analysis of a novel rotary soft robotic arm by transfer matrix method - Design and control of a portable continuum robot for pipe inspection assisted by a rigid manipulator This book is a suitable reference for scholars and engineers who are seeking knowledge about materials and design principles in soft robotics with its practical applications.

Biology of Behaviour

Author : Donald M. Broom
Publisher : CUP Archive
ISBN 13 : 9780521299060
Total Pages : 340 pages
Book Rating : 4.2/5 (99 download)

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Book Synopsis Biology of Behaviour by : Donald M. Broom

Download or read book Biology of Behaviour written by Donald M. Broom and published by CUP Archive. This book was released on 1981-10-30 with total page 340 pages. Available in PDF, EPUB and Kindle. Book excerpt: This book is an introduction to studies of the behaviour of a wide variety of animals including man, farm animals and pest species.

Soft-Material Robotics

Author : Liyu Wang
Publisher :
ISBN 13 : 9781680832648
Total Pages : 86 pages
Book Rating : 4.8/5 (326 download)

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Book Synopsis Soft-Material Robotics by : Liyu Wang

Download or read book Soft-Material Robotics written by Liyu Wang and published by . This book was released on 2017-04-12 with total page 86 pages. Available in PDF, EPUB and Kindle. Book excerpt: Introduces the fundamentals aspects of the topic from history, modelling, control, and system integration. The last decade has witnessed an increasing interest in the more active use of soft materials in robotic systems. Having a soft body like the ones in biological systems can potentially provide a robot with superior capabilities.

Self-sustainable Autonomous Soft Robots

Author : Yusen Zhao
Publisher :
ISBN 13 :
Total Pages : 0 pages
Book Rating : 4.:/5 (135 download)

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Book Synopsis Self-sustainable Autonomous Soft Robots by : Yusen Zhao

Download or read book Self-sustainable Autonomous Soft Robots written by Yusen Zhao and published by . This book was released on 2022 with total page 0 pages. Available in PDF, EPUB and Kindle. Book excerpt: Soft robotics with intrinsic mechanical compliancy and intelligence features is emerging and pushing the boundaries of conventional robots. To be smarter, reliable, and self-sustainable, soft robots require new soft materials capable of autonomous sensing and actuating with embodied energy. Polymers, especially tissue-like hydrogels, show immense promise owing to their softness, simple and tunable synthesis, multi-functionalities, and stimuli-responsiveness. Currently, tremendous attempts have been made using these materials to develop flexible/stretchable devices as robotic components, but these approaches severely compromise mechanical properties and desired functionalities, such as actuation, sensation, mobility, and energy/power density. My dissertation focuses on designing new soft materials for next-generation bioinspired autonomous robots. In Chapter 1, the state-of-the-art of soft robotic materials and system design will be discussed. The design principles of photoresponsive polymers, and conducting hydrogels and polymers were elucidated, followed by the motivation of the current study related to autonomous actuators, flexible electronics, and energy storage. In Chapters 2 and 3, the photo-responsive smart materials were developed for artificial phototropism and self-sustained oscillation. An in-depth understanding of the mechanism of autonomous motion, actuator characterizations, and potential applications in energy harvesting and oscillatory locomotion were investigated. In Chapter 4, the design principle and synthetic innovation of highly stretchable conducting hydrogels and polymers were discussed. Constructing new conducting materials with intrinsic stretchability was used for piezoresistive sensing and proprioceptive actuation. In Chapter 5, we developed oriented and hierarchical conducting hydrogels with controlled microstructures. We explored applications in flexible and stretchable energy storage devices with bending, stretching, and long-term cyclic stability. In Chapter 6, we summarized the progress made in autonomous actuators, sensors, and energy storage. We provided perspectives of novel materials in use of such applications.

Sensing and Control of a Pleated Soft Actuator

Author : Yanshi Sun
Publisher :
ISBN 13 :
Total Pages : 108 pages
Book Rating : 4.:/5 (15 download)

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Book Synopsis Sensing and Control of a Pleated Soft Actuator by : Yanshi Sun

Download or read book Sensing and Control of a Pleated Soft Actuator written by Yanshi Sun and published by . This book was released on 2018 with total page 108 pages. Available in PDF, EPUB and Kindle. Book excerpt: Soft robotics is a newly emerging branch of robotic engineering. It is mainly inspired by the research on biological bodies, where soft tissues adapt well to the unstructured and ever-changing environments. By mimicking animals, such as cephalopods, engineers have designed and fabricated innovational robots with soft materials, different from traditional rigid robots, these innovational robots have a higher flexibility. This character allows them to achieve many desirable functions, such as move through a gap narrower than their original size, or adapt themselves to a complex surface. Though many design and fabrication techniques have been developed for the soft actuator, the modeling, and control method is still under active research. Due to the compliance of the soft material, the traditional static and dynamic models for conventional robots cannot be used for modeling a soft actuator. An important method to model such actuators is the piece-wise constant curve (PCC) assumption, where the bending actuator is simplified as an arc. However, for the pleated soft actuator, whose chambers are discrete with each other, the strain of the whole actuator cannot be calculated directly. Thus, new static modeling method is needed. Additionally, there is also a need to improve current sensors, for the commercial strain gauges have a low measurement range and flexibility compared with soft actuators. In this paper, a soft actuator is designed with the help of FEA software, where different actuator characteristics are simulated to test their effects on the deformation performance. Then static model is built based on the PCC assumption to describe the deformation of the pleated soft actuator with a certain input air pressure, which includes the strain-pressure relationship, the bending angle and bending radius. Finally, a video tracking program is developed on MATLAB to measure the strain of the actuator. The static model has been validated with the tracking program and pressure sensor.

Soft Robotics based on Electroactive Polymers

Author : Guoying Gu
Publisher : Frontiers Media SA
ISBN 13 : 2889669351
Total Pages : 167 pages
Book Rating : 4.8/5 (896 download)

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Book Synopsis Soft Robotics based on Electroactive Polymers by : Guoying Gu

Download or read book Soft Robotics based on Electroactive Polymers written by Guoying Gu and published by Frontiers Media SA. This book was released on 2021-06-17 with total page 167 pages. Available in PDF, EPUB and Kindle. Book excerpt:

Morpho-functional Machines: The New Species

Author : F. Hara
Publisher : Springer Science & Business Media
ISBN 13 : 4431678697
Total Pages : 288 pages
Book Rating : 4.4/5 (316 download)

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Book Synopsis Morpho-functional Machines: The New Species by : F. Hara

Download or read book Morpho-functional Machines: The New Species written by F. Hara and published by Springer Science & Business Media. This book was released on 2011-06-28 with total page 288 pages. Available in PDF, EPUB and Kindle. Book excerpt: Morpho-functional Machines are a set of tools for investigating the design of embodied intelligence in autonomous bio-artifact systems. The focus in Morpho-functional Machines is on the balance of morphology, materials, and control; intelligent behavior emerges from the interaction of an autonomous system with a real-world environment. How, then, should body morphology, body materials, and sensory systems be designed to achieve a certain set of tasks or desired behaviors in a particular environment? This and other questions were addressed at the International Workshop on Morpho-functional Machines held in Tokyo in 2001. Collected here are the revised papers from the workshop, providing a new perspective for understanding embodied intelligence. Presenting the innovative concept of Morpho-functional Machines, this book is a valuable source for scientists and engineers working in ethnology, cognitive sciences, robotic engineering, and artificial intelligence.

Mechanically Responsive Materials for Soft Robotics

Author : Hideko Koshima
Publisher : John Wiley & Sons
ISBN 13 : 3527346201
Total Pages : 442 pages
Book Rating : 4.5/5 (273 download)

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Book Synopsis Mechanically Responsive Materials for Soft Robotics by : Hideko Koshima

Download or read book Mechanically Responsive Materials for Soft Robotics written by Hideko Koshima and published by John Wiley & Sons. This book was released on 2020-02-18 with total page 442 pages. Available in PDF, EPUB and Kindle. Book excerpt: Offers a comprehensive review of the research and development of mechanically responsive materials and their applications in soft robots Mechanically Responsive Materials for Soft Robotics offers an authoritative guide to the current state of mechanically responsive materials for the development of soft robotics. With contributions from an international panel of experts, the book examines existing mechanically responsive materials such as crystals, polymers, gels, and composites that are stimulated by light and heat. The book also explores the application of mechanical materials to soft robotics. The authors describe the many excellent mechanical crystals developed in recent years that show the ability to bend, twist, rotate, jump, self-heal, and shape memory. Mechanical polymer materials are described for evolution into artificial muscles, photomobile materials, bioinspired soft actuators, inorganic-organic hybrid materials, multi-responsive composite materials, and strain sensor materials. The application of mechanical materials to soft robots is just the beginning. This book reviews the many challenging and versatile applications, such as soft microrobots made from photoresponsive elastomers, four-dimensional printing for assembling soft robots, self-growing of soft robots like plants, and biohybrid robots using muscle tissue. This important book: -Explores recent developments in the use of soft smart materials in robotic systems -Covers the full scope of mechanically responsive materials: polymers, crystals, gels, and nanocomposites -Deals with an interdisciplinary topic of advanced smart materials research -Contains extensive descriptions of current and future applications in soft robotics Written for materials scientists, polymer chemists, photochemists, physical chemists, solid state chemists, inorganic chemists, and robotics engineers, Mechanically Responsive Materials for Soft Robotics offers a comprehensive and timely review of the most recent research on mechanically responsive materials and the manufacture of soft robotics.