Sensing And Control Of A Pleated Soft Actuator

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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.

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.

Smart Actuator and Sensor Technologies

Author : Kam K Leang
Publisher : Butterworth-Heinemann
ISBN 13 : 9780128094556
Total Pages : 0 pages
Book Rating : 4.0/5 (945 download)

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Book Synopsis Smart Actuator and Sensor Technologies by : Kam K Leang

Download or read book Smart Actuator and Sensor Technologies written by Kam K Leang and published by Butterworth-Heinemann. This book was released on 2029-11-15 with total page 0 pages. Available in PDF, EPUB and Kindle. Book excerpt: Smart Actuator and Sensor Technologies: Design, Modeling, Fabrication, and Control for Mechatronic Systems focuses on design, modeling, fabrication, and control of smart actuator technologies, such as piezoelectric actuators, electroactive polymer actuators, and a host of other "smart” material based actuators, including shape memory alloys, magnetostrictive materials and others. This book covers important technical aspects so that engineers, scientists, and designers can utilize the information in their work. As emerging mechatronic systems, such as precision positioning system, soft robots, biomedical devices and aerospace system are exploring the use of smart actuators, this book provides complete coverage of the popular technologies. Covers the important technical aspects of design, modeling, fabrication and control of smart actuator technologies Written by two experts in the field of smart actuators, each contributing their expert knowledge“/li> Presents a reference text where readers can enhance their understanding through further reading of listed, credible publications

Soft Actuators

Author : Kinji Asaka
Publisher : Springer
ISBN 13 : 4431547673
Total Pages : 492 pages
Book Rating : 4.4/5 (315 download)

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Book Synopsis Soft Actuators by : Kinji Asaka

Download or read book Soft Actuators written by Kinji Asaka and published by Springer. This book was released on 2014-11-17 with total page 492 pages. Available in PDF, EPUB and Kindle. Book excerpt: The subject of this book is the current comprehensive research and development of soft actuators, and encompasses interdisciplinary studies of materials science, mechanics, electronics, robotics and bioscience. As an example, the book includes current research on actuators based on biomaterials to provide future perspectives for artificial muscle technology. Readers can obtain detailed, useful information about materials, methods of synthesis, fabrication and measurements. The topics covered here not only promote further research and development of soft actuators but also lead the way to their utilization and industrialization. One outstanding feature of the book is that it contains many color figures, diagrams and photographs clearly describing the mechanism, apparatus and motion of soft actuators. The chapter on modeling is conducive to more extensive design work in materials and devices and is especially useful in the development of practical applications. Readers can acquire the newest technology and information about the basic science and practical applications of flexible, lightweight and noiseless soft actuators, which are quite unlike conventional mechanical engines and electric motors. The new ideas offered in this volume will provide inspiration and encouragement to researchers and developers as they explore new fields of applications for soft actuators.

Smart Actuation and Sensing Systems

Author : Giovanni Berselli
Publisher : BoD – Books on Demand
ISBN 13 : 9535107984
Total Pages : 732 pages
Book Rating : 4.5/5 (351 download)

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Book Synopsis Smart Actuation and Sensing Systems by : Giovanni Berselli

Download or read book Smart Actuation and Sensing Systems written by Giovanni Berselli and published by BoD – Books on Demand. This book was released on 2012-10-17 with total page 732 pages. Available in PDF, EPUB and Kindle. Book excerpt: The objective of the present book, which tries to summarize in an edited format and in a fairly comprehensive manner, many of the recent technical research accomplishments in the area of Smart Actuators and Smart Sensors, is to combine researchers and scientists from different fields into a single virtual room. The book hence reflects the multicultural nature of the field and will allow the reader to taste and appreciate different points of view, different engineering methods and different tools that must be jointly considered when designing and realizing smart actuation and sensing systems.

Intelligence and Safety for Humanoid Robots: Design, Control, and Applications

Author : Zhihong Tian
Publisher : Frontiers Media SA
ISBN 13 : 2889742881
Total Pages : 153 pages
Book Rating : 4.8/5 (897 download)

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Book Synopsis Intelligence and Safety for Humanoid Robots: Design, Control, and Applications by : Zhihong Tian

Download or read book Intelligence and Safety for Humanoid Robots: Design, Control, and Applications written by Zhihong Tian and published by Frontiers Media SA. This book was released on 2022-02-07 with total page 153 pages. Available in PDF, EPUB and Kindle. Book excerpt:

Global Perspectives on Robotics and Autonomous Systems: Development and Applications

Author : Habib, Maki K.
Publisher : IGI Global
ISBN 13 : 1668477939
Total Pages : 423 pages
Book Rating : 4.6/5 (684 download)

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Book Synopsis Global Perspectives on Robotics and Autonomous Systems: Development and Applications by : Habib, Maki K.

Download or read book Global Perspectives on Robotics and Autonomous Systems: Development and Applications written by Habib, Maki K. and published by IGI Global. This book was released on 2023-08-01 with total page 423 pages. Available in PDF, EPUB and Kindle. Book excerpt: There is an increasing demand to develop intelligent robotics and autonomous systems to deal with dynamically changing and complex, unstructured, and unpredictable environments. Such robots should be able to handle task varieties, environment dynamics and goal variations, and their complexity. This also highlights the need for having intelligent robotics and autonomous systems with capabilities assuring reliable and robust functions resolving real-time complex problems that are associated with many applications across diverse domains. This requires unconventional ways to develop creative and innovative, energy-efficient, and eco- and environmentally friendly solutions that consider new ways of creative thinking while drawing inspiration from nature as a model leading to creating new designs, intelligent systems, intelligent structures/mechanisms, reconfigurability, and more. Global Perspectives on Robotics and Autonomous Systems: Development and Applications describes the evolution of robotics and autonomous systems, their development, their technologies, and their applications. This book discusses the concept of autonomy, requirements, and its role in shaping the behavior of these robots so that they can make their own effective and safe decisions and act on them reliably while assuring real-life requirements. Covering topics such as digital transformation, fused deposition modeling (FDM), and organizational unbundling process, this premier reference source is an essential resource for engineers, computer scientists, industry professionals, manufacturers, smart systems developers, data analysts, students and educators of higher educations, researchers, and academicians.

Sensing Large Strains by Measuring Light Attenuation in Elastomeric Waveguides

Author : Michael Seow
Publisher :
ISBN 13 :
Total Pages : 73 pages
Book Rating : 4.:/5 (15 download)

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Book Synopsis Sensing Large Strains by Measuring Light Attenuation in Elastomeric Waveguides by : Michael Seow

Download or read book Sensing Large Strains by Measuring Light Attenuation in Elastomeric Waveguides written by Michael Seow and published by . This book was released on 2018 with total page 73 pages. Available in PDF, EPUB and Kindle. Book excerpt: Soft actuators can bend and deform into many shapes and it is advantageous to be able to measure the position of the end of a soft actuator to provide feedback control. Relying solely on input measurements of the quantity that provides the energy for actuations (driving fluid pressure or volume in the case of pneumatic and hydraulic actuators) does not provide enough information to estimate the position considering that external forces will also have an impact on the resulting shape and position. Therefore, more direct position sensing methods such as strain sensing are required. These position sensing methods will need to satisfy a number of requirements to be suitable as a sensor for a soft actuator. The sensor must be able to detect larger strains ideally greater than 200 % to provide coverage for a large variety of movements. The sensor should be able to do this with a high degree of sensitivity and repeatability. In addition, it would be beneficial for the sensor to be relatively cheap and cost effective, and immune to or largely unaffected by electromagnetic interference. After considering different position and strain sensing technologies, a strain sensing method using light attenuation in an elastomeric waveguide was deemed the most appropriate. The light attenuation is characterized with a fit to the Beer-Lambert Law where the light power exponentially decreases as the distance increases from the light source. The elastomeric waveguide itself was inexpensive, easy to manufacture, and could undergo large strains with strains of up to 275 % under test (potentially to strains of up to 900 % as quoted in the product datasheet). Being an optical method, the sensor is immune to electrical or magnetic interference. Testing proved that the sensor was accurate and reliable over low numbers of stretching cycles.

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.

Eye Tracking Methodology

Author : Andrew Duchowski
Publisher : Springer Science & Business Media
ISBN 13 : 1846286093
Total Pages : 336 pages
Book Rating : 4.8/5 (462 download)

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Book Synopsis Eye Tracking Methodology by : Andrew Duchowski

Download or read book Eye Tracking Methodology written by Andrew Duchowski and published by Springer Science & Business Media. This book was released on 2007-09-14 with total page 336 pages. Available in PDF, EPUB and Kindle. Book excerpt: Despite the availability of cheap, fast, accurate and usable eye trackers, there is little information available on how to develop, implement and use these systems. This 2nd edition of the successful guide contains significant additional material on the topic and aims to fill that gap in the market by providing an accessible and comprehensive introduction. Additional key features of the 2nd edition include: Technical description of new (state-of-the-art) eye tracking technology; a complete whole new section describing experimental methodology including experimental design, empirical guidelines, and five case studies; and survey material regarding recent research publications.

Soft Robotics in Rehabilitation

Author : Amir Jafari
Publisher : Academic Press
ISBN 13 : 0128185392
Total Pages : 280 pages
Book Rating : 4.1/5 (281 download)

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Book Synopsis Soft Robotics in Rehabilitation by : Amir Jafari

Download or read book Soft Robotics in Rehabilitation written by Amir Jafari and published by Academic Press. This book was released on 2021-02-20 with total page 280 pages. Available in PDF, EPUB and Kindle. Book excerpt: Soft Robotics in Rehabilitation explores the specific branch of robotics dealing with developing robots from compliant and flexible materials. Unlike robots built from rigid materials, soft robots behave the way in which living organs move and adapt to their surroundings and allow for increased flexibility and adaptability for the user. This book is a comprehensive reference discussing the application of soft robotics for rehabilitation of upper and lower extremities separated by various limbs. The book examines various techniques applied in soft robotics, including the development of soft actuators, rigid actuators with soft behavior, intrinsically soft actuators, and soft sensors. This book is perfect for graduate students, researchers, and professional engineers in robotics, control, mechanical, and electrical engineering who are interested in soft robotics, artificial intelligence, rehabilitation therapy, and medical and rehabilitation device design and manufacturing. Outlines the application of soft robotic techniques to design platforms that provide rehabilitation therapy for disabled persons to help improve their motor functions Discusses the application of soft robotics for rehabilitation of upper and lower extremities separated by various limbs Offers readers the ability to find soft robotics devices, methods, and results for any limb, and then compare the results with other options provided in the book

Smart Materials in Additive Manufacturing, volume 2: 4D Printing Mechanics, Modeling, and Advanced Engineering Applications

Author : Mahdi Bodaghi
Publisher : Elsevier
ISBN 13 : 0323954316
Total Pages : 466 pages
Book Rating : 4.3/5 (239 download)

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Book Synopsis Smart Materials in Additive Manufacturing, volume 2: 4D Printing Mechanics, Modeling, and Advanced Engineering Applications by : Mahdi Bodaghi

Download or read book Smart Materials in Additive Manufacturing, volume 2: 4D Printing Mechanics, Modeling, and Advanced Engineering Applications written by Mahdi Bodaghi and published by Elsevier. This book was released on 2022-06-25 with total page 466 pages. Available in PDF, EPUB and Kindle. Book excerpt: Smart Materials in Additive Manufacturing, Volume 2 covers the mechanics, modeling, and applications of the technology and the materials produced by it. It approaches the topic from an engineering design perspective with cutting-edge modeling techniques and real-world applications and case studies highlighted throughout. The book demonstrates 4D printing techniques for electro-induced shape memory polymers, pneumatic soft actuators, textiles, and more. Modeling techniques with ABAQUS and machine learning are outlined, as are manufacturing techniques for highly elastic skin, tunable RF and wireless structures and modules, and 4D printed structures with tunable mechanical properties. Closed-loop control of 4D printed hydrogel soft robots, hierarchical motion of 4D printed structures using the temperature memory effect, multimaterials 4D printing using a grasshopper plugin, shape reversible 4D printing, and variable stiffness 4D printing are each discussed as well. Outlines cutting-edge techniques, structural design, modeling, simulation, and tools for application-based 4D printing Details design, modeling, simulation, and manufacturing considerations for various fields Includes case studies demonstrating real-world situations where the techniques and concepts discussed were successfully deployed Applications covered include textiles, soft robotics, auxetics and metamaterials, micromachines, sensors, bioprinting, and wireless devices Covers the mechanics, manufacturing processes and applications of 4D-printed smart materials and structures Discusses applications in civil, mechanical, aerospace, polymer and biomedical engineering Presents experimental, numerical and analytical studies in a simple and straightforward manner, providing tools that can be immediately implemented and adapted by readers to fit their work

Electroactive Polymers for Robotic Applications

Author : Kwang J. Kim
Publisher : Springer Science & Business Media
ISBN 13 : 1846283728
Total Pages : 288 pages
Book Rating : 4.8/5 (462 download)

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Book Synopsis Electroactive Polymers for Robotic Applications by : Kwang J. Kim

Download or read book Electroactive Polymers for Robotic Applications written by Kwang J. Kim and published by Springer Science & Business Media. This book was released on 2007-01-17 with total page 288 pages. Available in PDF, EPUB and Kindle. Book excerpt: This book covers the fundamental properties, modeling, and demonstration of Electroactive polymers in robotic applications. It particularly details artificial muscles and sensors. In addition, the book discusses the properties and uses in robotics applications of ionic polymer–metal composite actuators and dielectric elastomers.

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.

Electroactivity in Polymeric Materials

Author : Lenore Rasmussen
Publisher : Springer Science & Business Media
ISBN 13 : 1461408784
Total Pages : 163 pages
Book Rating : 4.4/5 (614 download)

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Book Synopsis Electroactivity in Polymeric Materials by : Lenore Rasmussen

Download or read book Electroactivity in Polymeric Materials written by Lenore Rasmussen and published by Springer Science & Business Media. This book was released on 2012-03-02 with total page 163 pages. Available in PDF, EPUB and Kindle. Book excerpt: Electroactivity in Polymeric Materials provides an in-depth view of the theory of electroactivity and explores exactly how and why various electroactive phenomena occur. The book explains the theory behind electroactive bending (including ion-polymer-metal-composites –IPMCs), dielectric elastomers, electroactive contraction, and electroactive contraction-expansion cycles. The book also balances theory with applications – how electroactivity can be used – drawing inspiration from the manmade mechanical world and the natural world around us.

2015 IEEE International Conference on Rehabilitation Robotics (ICORR).

Author : IEEE Staff
Publisher :
ISBN 13 : 9781479918089
Total Pages : pages
Book Rating : 4.9/5 (18 download)

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Book Synopsis 2015 IEEE International Conference on Rehabilitation Robotics (ICORR). by : IEEE Staff

Download or read book 2015 IEEE International Conference on Rehabilitation Robotics (ICORR). written by IEEE Staff and published by . This book was released on 2015 with total page pages. Available in PDF, EPUB and Kindle. Book excerpt: This biannual international IEEE International Conference on Rehabilitative Robotics highlights current research from the world s leading research labs and clinics in the field of rehabilitation robotics The scope of the conference includes (1) Assistive Robotics (2) Robotic Wheelchairs (3) Diagnostic Robotics (4) Therapeutic Robotics (5) Orthotics and Prosthetics (6) Brain Machine Interfaces (7) Neuroprosthetics (8) Neuroscience Robotics (9) Social Robotics & (10) Evaluation and Clinical Experience.

Valve Selection Handbook

Author : Peter Smith
Publisher : Elsevier
ISBN 13 : 0080481582
Total Pages : 414 pages
Book Rating : 4.0/5 (84 download)

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Book Synopsis Valve Selection Handbook by : Peter Smith

Download or read book Valve Selection Handbook written by Peter Smith and published by Elsevier. This book was released on 2004-01-24 with total page 414 pages. Available in PDF, EPUB and Kindle. Book excerpt: Valves are the components in a fluid flow or pressure system that regulate either the flow or the pressure of the fluid. They are used extensively in the process industries, especially petrochemical. Though there are only four basic types of valves, there is an enormous number of different kinds of valves within each category, each one used for a specific purpose. No other book on the market analyzes the use, construction, and selection of valves in such a comprehensive manner. Covers new environmentally-conscious equipment and practices, the most important hot-button issue in the petrochemical industry today Details new generations of valves for offshore projects, the oil industry's fastest-growing segment Includes numerous new products that have never before been written about in the mainstream literature