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SUTBot: A soft Umbrella-Like Tensegrity robot With Elastic Struts for in-Pipe Locomotion

IEEE robotICS AND AUTOMATION LETTERS 2025年第3期10卷 2918-2925页

作者： Liu, Yixiang Zhang, Yunce Dai, Xiaolin Wu, Rui Zhang, Zhenyu Li, Yibin Zhao, Jie Shandong Univ Sch Control Sci & Engn Jinan 250061 Peoples R China Natl Key Lab Multiperch Vehicle Driving Syst Beijing 100081 Peoples R China Jilin Univ Key Lab Bion Engn Minist Educ Changchun 130022 Peoples R China Shandong Univ Engn Res Ctr Intelligent Unmanned Syst Minist Educ Jinan 250061 Peoples R China Ecole Polytech Fed Lausanne Sch Engn CH-1015 Lausanne Switzerland Beijing Inst Technol Natl Key Lab Multiperch Vehicle Driving Syst Beijing 100081 Peoples R China Beijing Inst Technol Sch Mech Engn Beijing 100081 Peoples R China Harbin Inst Technol State Key Lab Robot & Syst Harbin 150080 Peoples R China

Compared with traditional in-pipe robots, tensegrity robots have exhibited many advantages such as light-weight, compliant, collapsible, low-cost, and rapidly manufacturable characteristics. However, published tensegrity in-pipe robots still have limited load capacity, because they rely on the stress between obliquely arranged rigid struts and pipe to provide supporting force, and the rigid struts are easy to slide under external loads. In this editor, a soft umbrella-shaped tensegrity robot that use compressed elastic struts to apply stress nearly perpendicular to pipe is proposed to enhance its load capacity. The static and kinematic models guiding the prototyping and controlling of the tensegrity robot are built based on discretization method. To assess the effectiveness of the elastic struts, a prototype is developed and subjected to a series of experiments. The results demonstrate that compared with other tensegrity in-pipe robots, the usage of elastic struts improves the payload-to-weight ratio of the proposed robot by three times, while still maintaining good mobility and adaptability.

关键词： robots Cables Force Kinematics Electronic mail Stress Prototypes Pneumatic systems Friction Actuators Bio-inspired robot tensegrity robot in-pipe crawling robot soft robot application

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Bio-Inspired Fast-Moving and Steerable Insect-Scale soft Aquatic Surface robot

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IEEE TRANSACTIONS ON robotICS 2025年 41卷 1825-1840页

作者： Zhao, Dazhe Wang, Renkun Ding, Sen Shan, Jiaze Guan, Xiao Li, Zhaoyang Liang, Jiaming Gu, Wenxi Zhou, Bingpu Lei, Iek Man Lin, Liwei Zhong, Junwen Univ Macau Dept Electromech Engn Macau 999078 Peoples R China Univ Macau Dept Electromech Engn 2 Macau 999078 Peoples R China Univ Calif Berkeley Dept Mech Engn Berkeley CA 94720 USA Univ Macau Inst Appl Phys & Mat Engn Macau 999078 Peoples R China Tencent Tencent Robot X Shenzhen 518000 Peoples R China

High-speed and good trajectory controllability are two critical attributes of small artificial aquatic surface robots. Inspired by the moving mechanism of water striders, we herein propose insect-scale soft aquatic surface robots utilizing piezoelectric actuation coupled with asymmetric footpads. The aquatic surface robots move quickly without penetrating the water-air interface and utilize incoordinate propulsive force from asymmetric footpads to realize precise trajectory control. An ultrafast linear speed of 21.82 BL/s (24 cm/s) and a high angular speed of 303 degrees/s are achieved, which are advanced among small aquatic surface robots. We showcase agility and maneuverability by navigating through a water maze with a total route length of 88 cm in an actual driving time of 16.5 s. Moreover, proof-of-concept for search and rescue operations is demonstrated by using a robot to tow an on-water monitoring system to record a real-time video showing the "SOS" symbol. An untethered robot is also demonstrated to improve the practical potential. The design principles, operation mechanisms, and steering characteristics presented in this work provide fundamental guidelines for the development of future small aquatic surface robots.

关键词： robots Legged locomotion Prototypes Surface resistance Trajectory Surface tension Propulsion Vibrations Piezoelectric films Optical surface waves Biomimetics frequency-based manipulation soft robot application soft robot materials design

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A soft-Rigid Gripper for Safe Handling and Transportation

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ADVANCED MATERIALS TECHNOLOGIES 2025年第8期10卷

作者： Troisi, Danilo Dragusanu, Mihai Pozzi, Maria Prattichizzo, Domenico Malvezzi, Monica Univ Siena Dept Informat Engn & Math Via Roma 56 I-53100 Siena Italy Univ Pisa Dept Informat Engn Via Girolamo Caruso 16 I-56122 Pisa Italy Ist Italiano Tecnol Via Morego 30 I-16163 Genoa Italy

The automatic handling of perishable items like food and agricultural products requires robotic grippers that not only can perform gentle grasps but can also transport grasped objects safely and reliably. This result can be obtained by assuring that the contact between the grasped object and the gripper is as extended as possible, to avoid stress concentration in small areas, that could lead to local damage. In this study, a soft-rigid gripper is presented and designed to grasp and hold objects and to distribute the contact pressure over a large surface, limiting its maximum value and avoiding localized peaks. The gripper has four fingers and an extendable soft palm that wraps around the object, resembling a soft pocket. The palm is composed of two soft parts, whose geometrical characteristics have been evaluated using a shape optimization process and can be easily detached from the fingers to be changed or washed. The gripper is characterized with mechanical tests and evaluated in grasping and transporting tasks with real objects.

关键词： grippers and other end-effectors materials for soft robotics soft materials and design soft robot application safe food handling

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Design and Experimental Validation of a Worm-Like Tensegrity robot for In-Pipe Locomotion

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Journal of Bionic Engineering 2023年第2期20卷 515-529页

作者： Xiaolin Dai Yixiang Liu Wei Wang Rui Song Yibin Li Jie Zhao School of Control Science and Engineering Shandong UniversityJinan250061China Engineering Research Center of Intelligent Unmanned System of Ministry of Education Jinan250061China Shandong Research Institute of Industrial Technology Jinan250061China State Key Laboratory of Robotics and System Harbin Institute of TechnologyHarbin150080China

Traditional rigid-body in-pipe robots usually have complex and heavy structures with limited flexibility and *** soft in-pipe robots have great improvements in flexibility,they still have manufacturing difficulties due to their reliance on high-performance soft *** structure is a kind of self-stressed spatial structure consisting discrete rigid struts connected by a continuous net of tensional flexible strings,which combines the advantages of both rigid structures and soft *** applying tensegrity structures into robotics,this paper proposes a novel worm-like tensegrity robot for moving inside ***,a robot module capable of body deformation is designed based on the concept of tensegrity and its deformation performance is ***,the optimal parameters of the module are obtained based on the tensegrity *** deformation ability of the tensegrity module is tested ***,the worm-like tensegrity robot that can crawl inside pipes is developed by connecting three modules in *** performance and load capacity are tested on the prototype of the worm-like tensegrity robot by experiments of moving in horizontal pipe,vertical pipe,and elbow *** results demonstrate the effectiveness of the proposed design and suggest that the robot has high compliance,mobility,and adaptability although with simple structure and low cost.

关键词： Bio-inspired robot soft robot application Tensegrity structure Pipe crawling

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Kinematics-Informed Neural Networks: Enhancing Generalization Performance of soft robot Model Identification

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IEEE robotICS AND AUTOMATION LETTERS 2024年第4期9卷 3068-3075页

作者： Yoon, Taerim Chai, Yoonbyung Jang, Yeonwoo Lee, Hajun Kim, Junghyo Kwon, Jaewoon Kim, Jiyun Choi, Sungjoon Korea Univ Dept Artificial Intelligence Seoul 02577 South Korea Ulsan Natl Inst Sci & Technol Dept Mat Sci & Engn Ulsan 44951 South Korea NAVER LABS Seongnam 13561 Gyeonggi South Korea

A hybrid system combining rigid and soft robots (e.g., soft fingers attached to a rigid arm) ensures safe and dexterous interaction with humans. Nevertheless, modeling complex movements involving both soft and rigid robots presents a challenge. Additionally, the difficulty of obtaining large datasets for soft robots, due to the risk of damage by repetitive and extreme actuations, hiders the utilization of data-driven approaches. In this study, we present a Kinematics-Informed Neural Network (KINN), which incorporates rigid body kinematics as an inductive bias to enhance sample efficiency and provide holistic control for the hybrid system. The model identification performance of the proposed method is extensively evaluated in simulated and real-world environments using pneumatic and tendon-driven soft robots. The evaluation result shows employing a kinematic prior leads to an 80.84% decrease in positional error measured in the L1-norm for extrapolation tasks in real-world tendon-driven soft robots. We also demonstrate the dexterous and holistic control of the rigid arm with soft fingers by opening bottles and painting letters.

关键词： Modeling control and learning for soft robots model learning for control soft robot application

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Haptic Search With the Smart Suction Cup on Adversarial Objects

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IEEE TRANSACTIONS ON robotICS 2024年 40卷 226-239页

作者： Lee, Jungpyo Lee, Sebastian D. Huh, Tae Myung Stuart, Hannah S. Univ Calif Berkeley Dept Mech Engn Embodied Dexter Grp Berkeley CA 94720 USA Univ Calif Santa Cruz Dept Comp & Elect Engn Santa Cruz CA 95064 USA

Suction cups are an important gripper type in industrial robot applications, and the prior literature focuses on using vision-based planners to improve grasping success in these tasks. Vision-based planners can fail due to adversarial objects or lose generalizability for unseen scenarios, without retraining learned algorithms. In this article, we propose haptic exploration to improve suction cup grasping when visual grasp planners fail. We present the smart suction cup, an end effector that utilizes internal flow measurements for tactile sensing. We show that model-based haptic search methods, guided by these flow measurements, improve grasping success by up to 2.5x as compared with using only a vision planner during a bin-picking task. In characterizing the smart suction cup on both geometric edges and curves, we find that flow rate can accurately predict the ideal motion direction even with large postural errors. The smart suction cup includes no electronics on the cup itself, such that the design is easy to fabricate and haptic exploration does not damage the sensor. This work motivates the use of suction cups with autonomous haptic search capabilities in especially adversarial scenarios.

关键词： Bin picking sensor-based control soft robot application tactile sensing vacuum gripper

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Design, Modeling, and Control of soft Syringes Enabling Two Pumping Modes for Pneumatic robot applications

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IEEE-ASME TRANSACTIONS ON MECHATRONICS 2024年第2期29卷 889-901页

作者： Zhou, Jianshu Huang, Junda Ma, Xin Lee, Andy Kosuge, Kazuhiro Liu, Yun-Hui Chinese Univ Hong Kong Dept Mech & Automat Engn Hong Kong Peoples R China Hong Kong Ctr Logist Robot Hong Kong Peoples R China Univ Hong Kong Dept Elect & Elect Engn Hong Kong Peoples R China

Pneumatic actuation is important in robotic applications, such as manipulating objects in interaction scenarios using pneumatic grippers and suction cups. However, traditional pneumatic actuation approaches, including industrial pneumatic systems and syringe pumps, suffer from limitations such as bulky systems, noisy operation, and inflexible pressure modulation, which limit their practicality for daily use. To address these challenges, we proposed a novel soft syringe (SS) and its corresponding SS pump. Moreover, we developed a two-mode pumping mechanism (direct and continuous pumping) for both positive and negative pressure outputs, enabling flexible pressure modulation. A detailed description of the SS's design, modeling, control, and performance is provided. Additionally, a keyframe model is introduced to simplify the modeling of pressure dynamic response. The SS showcases the benefits of low friction, high operational frequency (6.5 Hz), low noise (55.6 dB), and sufficient pressure range (-0.08 MPa to 0.15 MPa). Experimental results demonstrate the promise of the proposed approach for diverse pneumatic end-effector actuation and control with excellent modulation and scalability in human-centered scenarios.

关键词： Actuators robots Pneumatic systems Valves Modulation Atmospheric modeling Pistons Continuous pumping direct pumping soft actuation soft pump soft robot application syringe pump

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A soft Sensorized Foot Module to Understand Anisotropic Terrains During soft robot Locomotion

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IEEE robotICS AND AUTOMATION LETTERS 2020年第3期5卷 4055-4061页

作者： Babu, Saravana Prashanth Murali Visentin, Francesco Sadeghi, Ali Mondini, Alessio Mazzolai, Barbara Scuola Super Sant Anna Biorobot Inst I-56025 Pontedera PI Italy Ist Italiano Tecnol Ctr Microbiorobot I-56025 Pontedera PI Italy Univ Twente Dept Biomech Engn NL-7522 Enschede Netherlands

The ability to move on an unstructured terrain and in confined spaces greatly increases the number of tasks terrestrial robots can carry out. To achieve this goal, robots should be aware of the different terrains on which they are moving. Here we present a soft sensorized foot module that can be used to better understand the interactions between the foot and the surfaces. The foot module detects force with repeatable and reliable information on flat, unstructured, and inclined surfaces. By characterizing the foot, we investigated the force interaction between the foot and the variable surface in three different conditions: i) normal loading on flat surface, ii) normal loading with obstacles (unstructured surface), and iii) tangential force. We further validated the measured forces applied by the soft foot module during a locomotion task performed both on flat and inclined surfaces. This study provides a better understanding of the interactions between the foot and the terrain and opens up to new way to design soft robots able to locomote on unstructured terrains.

关键词： soft robot application soft sensors and actuators soft robot materials and design

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Detection and Suppression of Parkinson's Disease Tremors using soft robotics

Detection and Suppression of Parkinson's Disease Tremors usi...

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IEEE SoutheastCon Conference on Engineering the Future

作者： Seshadri, Unnati James Logan High Sch Union City CA 94857 USA

ISBN: (纸本)9798350317107;9798350317114

Parkinson's Disease affects over 10 million people globally, causing various motor problems, including tremors. A prototype device has been developed to automate the detection and suppression of tremors using soft robotics and granular jamming. The device works by detecting vibrations from hand movements, analyzing the frequency to confirm the presence of a tremor, and triggering a wrist cuff filled with coffee grounds. The vacuum-induced rigidity of the coffee grounds creates a rigid exoskeleton-like structure around the trembling hand, arresting the tremor. The device was tested by simulating tremors on a skeletal hand, and out of 50 trials, there was a 92% tremor detection accuracy and 100% suppression activation accuracy. The device reduced tremor-induced movement by 84.6%, making it an effective and non-invasive alternative to costly and invasive treatments like surgery and drugs. This innovation can significantly improve PD patients' qualities of life at a low cost of under $25.

关键词： soft robotics Granular jamming Wearable soft robots soft robot application Tremor suppression Perception for Grasping and Manipulation

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Evaluation and modeling of diaphragm displacement using ultrasound imaging for wearable respiratory assistive robot

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FRONTIERS IN BIOENGINEERING AND BIOTECHNOLOGY 2024年 12卷 1436702页

作者： Zhang, Yan Li, Danye Zhang, Fengyao Wang, Zongyu Xue, Lei Nan, Xiaolu Li, Nianming Tan, Xilai Guo, Weidong Zhang, Yuru Zhao, Hongmei Ge, Qinggang Wang, Dangxiao Beihang Univ State Key Lab Virtual Real Technol & Syst Beijing Peoples R China China Japan Friendship Hosp Beijing Peoples R China Peking Univ Third Hosp Beijing Peoples R China Sch Mech Engn & Automat Beijing Peoples R China Beijing Adv Innovat Ctr Biomed Engn Beijing Peoples R China

Introduction Assessing the influence of respiratory assistive devices on the diaphragm mobility is essential for advancing patient care and improving treatment outcomes. Existing respiratory assistive robots have not yet effectively assessed their impact on diaphragm mobility. In this study, we introduce for the first time a non-invasive, real-time clinically feasible ultrasound method to evaluate the impact of soft wearable robots on diaphragm *** We measured and compared diaphragm displacement and lung volume in eight participants during both spontaneous and robotic-assisted respiration. Building on these measurements, we proposed a human-robot coupled two-compartment respiratory mechanics model that elucidates the underlying mechanism by which our extracorporeal wearable robots augments respiration. Specifically, the soft robot applies external compression to the abdominal wall muscles, inducing their inward movement, which consequently pushes the diaphragm upward and enhances respiratory function. Finally, we investigated the level and shape of various robotic assistive forces on diaphragm *** This robotic intervention leads to a significant increase in average diaphragm displacement by 1.95 times and in lung volume by 2.14 times compared to spontaneous respiration. Furthermore, the accuracy of the proposed respiratory mechanics model is confirmed by the experimental results, with less than 7% error in measurements of both diaphragm displacement and lung volume. Finally, the magnitude of robotic assistive forces positively correlates with diaphragm movement, while the shape of the forces shows no significant relationship with diaphragm *** Our experimental findings validate the effective assistance mechanism of the proposed robot, which enhances diaphragm mobility and assists in ventilation through extracorporeal robotic intervention. This robotic system can assist with ventilation while increasing diaphragm mobility,

关键词： soft robot application assistive robot respiratory assistance diaphragm ultrasonography soft exoskeleton

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