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1st International Symposium on Trustworthy Autonomous Systems, TAS 2023

作者： Swana, Matimba Ives, Jonathan Hauert, Sabine Engineering Mathematics Faculty of Engineering University of Bristol Bristol United Kingdom Centre for Ethics in Medicine Bristol Medical School University of Bristol Bristol United Kingdom Bristol Robotics Laboratory & Engineering Mathematics Faculty of Engineering University of Bristol Bristol United Kingdom

ISBN: (纸本)9798400707346

The development of in silico methodology, active controllable nanoparticles (nanorobots) and collective nanosystems that work cooperatively rather than individually (nanoswarms) are emerging as the new frontier in cancer nanomedicine. A multimethod qualitative study was undertaken to develop an understanding of how the first-in-human cancer nanoswarm trial should be regulated from the perspective of various stakeholders. This poster presents the initial findings of the ongoing study. 21 semi-structured interviews with regulators, nanomedicine researchers, healthcare professionals and patients were conducted, with data subjected to thematic analysis. Five themes emerged from the interviews: (1) Patient Cancer Journey;(2) Perceptions;(3) Regulation;(4) Future Thinking and;(5) Stakeholder Interaction. Overall the results demonstrate a willingness from oncology patients to develop nanoswarm treatments, as well highlight concerns from all stakeholders around trust and transparency. In the next stage, we need to further explore with focus groups if there is a level of acceptance and awareness for regulating this technology amongst stakeholders before making final recommendations for a framework of what the first-in-human cancer nanoswarm clinical trial should look like. © 2023 Owner/Author.

关键词： Medical nanotechnology

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MultiGrainGripper: Enhancing FinRay Soft Grippers to Grasp Granular Material

MultiGrainGripper: Enhancing FinRay Soft Grippers to Grasp G...

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IEEE International Conference on Soft robotics (RoboSoft)

作者： Silvia Terrile Loong Yi Lee Jonathan Rossiter School of Engineering Mathematics and Technology University of Bristol and the Bristol Robotics Laboratory United Kingdom

ISBN: (数字)9798331520205

ISBN: (纸本)9798331520212

FinRay grippers are among the most common soft grippers. Their structure allows them to adapt to the shape of the objects they come into contact with. However, due to its design, FinRay grippers have not been able to grasp granular materials. This paper presents a modified FinRay gripper called MultiGrainGripper that can perform the same grasping tasks as any other FinRay but also grasp granular material (from sugar to flour). This enhanced functionality was realised with by adding a small cavity to the end of each fin. When the MultiGrainGripper is closed, two haves of the cavity come together to form a closed chamber, wrapping around granular material and small items that otherwise would not be grippable. The soft MultiGrainGripper was modelled in finite elements to explore the effect of different designs on the properties of the finger compared to a standard FinRay of the same dimension. Experiments were conducted, grasping a wide range of objects and granular materials. Results show that the MultiGrainGripper can grasp a wider range of objects, from large structures (~10 cm) to a pinch of salt (granules ~100 μm).

关键词： Shape Fingers Grasping Materials reliability Soft robotics Finite element analysis Grippers Wrapping Standards Sugar

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Design and Characterisation of Salt-E-Skin: Soft Saline-Filled Large-Scale Tactile E-Skin

Design and Characterisation of Salt-E-Skin: Soft Saline-Fill...

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IEEE International Conference on Soft robotics (RoboSoft)

作者： Miranda Lowther Antonia Tzemanaki Helmut Hauser School of Engineering Mathematics and Technology University of Bristol Bristol Robotics Laboratory UK

With the rise of soft robotics, a wide range of soft sensorised skins have been proposed and developed. One particular group, fluidic electronic skins, have been shown to be promising but, so far, have been limited to small scales. Here, we present a large-scale (35,440 mm 2 ) sensory skin that uses an embedded channel system filled with saline and which is aimed to work as a prosthetic liner. Mechanical forces on the skin translate into channel deformations which can be measured by changes in impedance through external electrodes. We developed a novel fabrication process based on methods commonly used in prosthodontics and jewellery making to overcome challenges related to the larger size of the skin. We tested two machine learning techniques, i.e., artificial neural networks and random forests, to learn the mapping of the impedance changes to the location of the physical interaction. The results provide new insights on how to improve the design, in particular, in how to improve the channel structure to increase sensory performance.

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A Phase-Change Emulsion Jamming Gripper for Manipulation of Micro-Scale Textured Surfaces

A Phase-Change Emulsion Jamming Gripper for Manipulation of ...

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IEEE International Conference on robotics and Automation (ICRA)

作者： Alex Keller Tianqi Yue Qiukai Qi Andrew T. Conn Jonathan Rossiter School of Engineering Mathematics and Technology and the Bristol Robotics Laboratory University of Bristol Bristol UK

ISBN: (数字)9798350384574

ISBN: (纸本)9798350384581

The inherent elasticity of soft materials can be used to create robotic grippers that deform and comply to a variety of irregular shapes. To date, several soft adaptive grasping strategies have been reported, however, most of them focus on adapting to the overall shape of the structure, while the adaptive grasping of small surface asperities is overlooked. In this paper, we propose a novel method to achieve adaptive grasping on surface asperities with a smart shape-memory silicone sponge. Heating above 60°C makes the sponge soft and deformable to allow it to penetrate within surface asperities via a pressure normal to the surface. Cooling down below 60°C makes the sponge "jam" to retain its deformed shape. The interlocking force between the jammed sponge and the asperities, and the increased area of contact, allows for adaptive grasping on asperities down to 0.4 mm with an adhesive force of up to 27.7 N in a 40 × 40 mm contacting area. We introduce the design, working principle, fabrication, and optimization of a robotic gripper based on this shape-memory silicone sponge. This sponge-jamming gripper shows great potential for developing next-generation robotic grippers for the manipulation of textured and discontinuous surfaces.

关键词： Shape Service robots Force Grasping Pneumatic systems Surface texture Grippers

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Enhancing undulation of soft robots in granular media:A numerical and experimental study on the effect of anisotropic scales

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Biomimetic Intelligence & robotics 2024年第2期4卷 63-70页

作者： Longchuan Li Chaoyue Zhao Shuqian He Qiukai Qi Shuai Kang Shugen Ma College of Information Science and Technology Bejing University of Chemical TechnologyBejing 100029China School of Engineering Mathematics and Technology University of BristolBristol BS81THUK College of Mechanical and Electrical Engineering Beijing University of Chemical TechnologyBeijing 100029China Thrust of Robotics and Autonomous Systems The Hong Kong University of Science and Technology(Guangzhou)Guangzhou 511453China

Generating efficient locomotion in granular media is important,although it is difficult for *** by the fact that sand vipers usually have saw-like scales,in this study,we design a soft undulation robot with tangential anisotropic friction to enhance the undulation performance of soft robots in granular media.A mathematical model was derived and numerical simulations were conducted accordingly to investigate the effectiveness of tangential friction anisotropy for undulation gait generation in granular *** particular,we introduce a pseudo-rigid-body dynamics model consisting of links and joints while simulating the pneumatic actuation method to more closely approximate the response of soft ***,a soft snake-like robot was fabricated,and its forward and reverse undulations were compared in two sets of controlled *** consistency between the experimental results and the numerical simulations confirms that tangential anisotropic friction induces a propulsive effect in undulation,thereby increasing the robot's locomotion *** discovery provides new insights into the design of undulation robots in granular environments.2024 The Author(s).Published by Elsevier *** behalf of Shandong *** is an open access articleunder the CCBY license(http://***/licenses/by/4.0/).

关键词： Granular media Anisotropicity Pseudo-rigid-body model Soft robot Undulation

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Braille-Tip: Structured Small-Footprint Tactile Sensor for High Acuity Dynamic Tactile Tasks

Braille-Tip: Structured Small-Footprint Tactile Sensor for H...

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IEEE/RAS-EMBS International Conference on Biomedical robotics and Biomechatronics (BioRob)

作者： George P. Jenkinson Andrew T. Conn Antonia Tzemanaki School of Electrical Electronic and Mechanical Engineering University of Bristol Bristol Robotics Laboratory School of Engineering Mathematics and Technology University of Bristol

ISBN: (数字)9798350386523

ISBN: (纸本)9798350386530

Visually impaired people who do not read Braille are excluded from engaging in situations where Braille options may suffice for their Braille-literate counterparts. Braille-tip is a compact soft tactile sensor (11mm diameter) which can be mounted on a standard pen and is designed to dynamically assist with reading and learning Braille. Fluid channels are used to transmit tactile information from 19 soft taxel membranes to a single camera. A Braille-tip prototype is fabricated using silicone elastomer and tubing. Its sensory response is calibrated to successfully detect 52 raised Braille dots on embossed cardboard, and its functionality is demonstrated by reading Braille aloud, with an 84.5% success rate when operated by hand. The compact size and dense layout of taxels over the sensor membrane means that it makes a good candidate for general high acuity, low-force tasks and demonstrates the possibility of incorporating it into items for everyday life.

关键词： Braille Fluids Layout Tactile sensors Prototypes Elastomers Biomechatronics Cameras Biomembranes Standards

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Directing Anisotropic Friction and Compliant Structures Towards In-pipe Locomotion & Navigation

Directing Anisotropic Friction and Compliant Structures Towa...

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IEEE International Conference on Soft robotics (RoboSoft)

作者： Minghao Liu Loong Yi Lee Andrew T. Conn Jonathan Rossiter Department of Engineering Mathematics and Technology University of Bristol and the Bristol Robotics Laboratory

In-pipe locomotion is a great proving ground for the environmental flexibilities of soft robots. The 2023 Robosoft conference locomotion competition captured many of these chal-lenges and opportunities as a series of in-pipe obstacles for soft robots to navigate. Locomotion through pipes of different sizes, and surfaces, and navigating T-junctions was demonstrated. This paper presents the design of the competition-winning robot, using inchworm-inspired bellows actuated locomotion to move forward via anisotropic friction from the robot body design. The robot can traverse pipe diameters of 5cm to 10cm and can navigate T-junctions via a compliant guide rod that can be rotated to choose heading direction and cross over gaps in the pipeline. This paper also shows further development of the competition robot to generalise for more pipe designs by having the setae be a compliant four-bar linkage mechanism. The final design of the robot only requires one onboard motor to rotate the semi-passive guide rod for navigation and one pneumatic line for the bellows actuator, with the compliant seta design taking up minimal volume in the pipe compared to other wall-mounting inchworm solutions.

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Synergistic Orthopaedic Fatigue Tracking Glove: SOFT Glove

Synergistic Orthopaedic Fatigue Tracking Glove: SOFT Glove

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IEEE/RAS-EMBS International Conference on Biomedical robotics and Biomechatronics (BioRob)

作者： Ben Allen Martin S. Garrad Carlos A. Cifuentes Bristol Robotics Laboratory University of the West of England Bristol UK Bristol Robotics Laboratory Engineering Mathematics and Technology University of Bristol UK

ISBN: (数字)9798350386523

ISBN: (纸本)9798350386530

Repetitive strain injury (RSI) is a major health issue with 200,000 new cases being reported per year within the UK alone, and common symptoms include cramping, prolonged pain, stiffness and weakness. This is especially prevalent within electrical assembly jobs, with a 40.2 % chance that a worker suffers from some form of upper limb injury before retirement. A significant RSI cause is continuing to work after the onset of muscular fatigue. Existing solutions only focus on post-injury rehabilitation or support. Here, we introduce the SOFT glove which is able to detect fatigue through resistive bend sensors mounted to key locations on the hand, enabling workers to be notified of fatigue and potentially preventing the development of RSI. The viability of this design was validated in both a controlled study and a live sorting task. The trained classifier detected fatigue within both scenarios, with a minimum average accuracy of 95.67% when trained on only 15 seconds of data for controlled movements and 96.01 % for 3 minutes of training data for a real-world task. Therefore, the SOFT glove can confidently predict the main RSI warning sign for repetitive work, potentially reducing RSI in the workplace.

关键词： Accuracy Tracking Training data Fatigue Robot sensing systems Real-time systems Sensors Assembly Strain Sorting

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Investigating the influence of inter-printhead bond strategy on tensile strength in multi-printhead PLA parts for collective additive manufacturing 57

Investigating the influence of inter-printhead bond strategy...

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18th IFAC Workshop on Time Delay Systems, TDS 2024

作者： Taiwo, Emmanuel T.J. O'Dowd, Paul Hicks, Ben FARSCOPE Centre for Doctoral Training Bristol Robotics Laboratory University of Bristol University of the West of England BristolBS16 1QY United Kingdom School of Electrical Electronic and Mechanical Engineering University of Bristol BristolBS8 1TR United Kingdom School of Engineering Mathematics and Technology University of Bristol BristolBS8 1TW United Kingdom

Multiple printheads working in parallel on the same part have been proposed to increase the speed of FDM additive manufacturing systems. However, it is still unclear how this implementation affects part performance, particularly whether optimal inter-printhead bonds can be realised and how these might impact proposed speed gains. Therefore, this study investigates the trade-offs in tensile performance of parts printed using multiple printheads and inter-printhead interface strategies compared to a single printhead. By evaluating various inter-printhead bond orientations and chunking angles at the inter-printhead interface, the research assesses whether introducing a seam, which may weaken the part, can be justified by the potential benefit of workload distribution to enable parallelism in FDM additive manufacturing systems, hence faster print times. Findings show that the inline inter-printhead bond orientation and 30? chunking angle specimens exhibit a 9% and © 2024 The Authors.

关键词： Tensile testing

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MagicTac: A Novel High-Resolution 3D Multi-layer Grid-Based Tactile Sensor

MagicTac: A Novel High-Resolution 3D Multi-layer Grid-Based ...

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IEEE International Conference on robotics and Automation (ICRA)

作者： Wen Fan Haoran Li Dandan Zhang Department of Bioengineering Imperial College London School of Engineering Mathematics and Technology and Bristol Robotics Laboratory University of Bristol

ISBN: (数字)9798350384574

ISBN: (纸本)9798350384581

Accurate robotic control over interactions with the environment is fundamentally grounded in understanding tactile contacts. In this paper, we introduce MagicTac, a novel high-resolution grid-based tactile sensor. This sensor employs a 3D multi-layer grid-based design, inspired by the Magic Cube structure. This structure can help increase the spatial resolution of MagicTac to perceive external interaction contacts. Moreover, the sensor is produced using the multi-material additive manufacturing technique, which simplifies the manufacturing process while ensuring repeatability of production. Compared to traditional vision-based tactile sensors, it offers the advantages of i) high spatial resolution, ii) significant affordability, and iii) fabrication-friendly construction that requires minimal assembly skills. We evaluated the proposed MagicTac in the tactile reconstruction task using the deformation field and optical flow. Results indicated that MagicTac could capture fine textures and is sensitive to dynamic contact information. Through the grid-based multi-material additive manufacturing technique, the affordability and productivity of MagicTac can be enhanced with a minimum manufacturing cost of £4.76 and a minimum manufacturing time of 24.6 minutes.

关键词： Productivity Three-dimensional displays Manufacturing processes Costs Deformation Tactile sensors Three-dimensional printing

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