softrobotics enables unprecedented capabilities for mobile robots that could not be previously achieved using rigid mechanisms. This article serves as a reference for researchers working in soft robotic locomotion, p...
softrobotics enables unprecedented capabilities for mobile robots that could not be previously achieved using rigid mechanisms. This article serves as a reference for researchers working in soft robotic locomotion, provides classifications and trends in this field, and looks ahead to make recommendations for future developments. soft robotic locomotion tends to be heavily bioinspired. Consequently, we provide a taxonomy of soft robotic locomotion according to locomotion mode, including crawling, flying, swimming, legged locomotion, jumping, and alternative locomotion techniques. For each locomotion mode, we investigate fundamental aspects including actuation type, speed, locomotion gaits, control type, and power autonomy to present an accurate snapshot of soft robotic locomotion research. During the investigation, we focus primarily on the robotics literature from 2016 to 2021, while including some of the seminal work from previous years. In this article, we provide a comprehensive overview of recent soft robotic locomotion research including a broad overview of soft robotic research in several aspects, such as locomotion applications, flexible substrates, and compliant mechanisms, as part of the larger domain of soft robotic locomotion. We also discuss the research trend recent years in this area, possible future research focus, and application of soft locomotion research in human-robot interaction occasions.
soft Robots, robots that are constructed out of soft materials or using compliant actuation methods, can operate safely in complex environments without fear of damaging their surroundings or themselves. However, the s...
ISBN:
(数字)9781728165707
ISBN:
(纸本)9781728165714
soft Robots, robots that are constructed out of soft materials or using compliant actuation methods, can operate safely in complex environments without fear of damaging their surroundings or themselves. However, the soft materials and structures can be imprecise and difficult to control. We then developed a discretized constant-curvature model to predict the behavior of planar bending actuators, both under tip load and while pressurized internally. We experimentally verified this model under a range of configurations, using the model to perform open-loop inverse kinematics. These techniques represent a meaningful advancement in understanding and improving soft actuators, allowing them to move with speed and precision while resisting external forces.
The human hand serves as an inspiration for robotic grippers. However, the dimensions of the human hand evolved under a different set of constraints and requirements than that of robots today. This paper discusses a m...
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ISBN:
(数字)9781728162126
ISBN:
(纸本)9781728162133
The human hand serves as an inspiration for robotic grippers. However, the dimensions of the human hand evolved under a different set of constraints and requirements than that of robots today. This paper discusses a method of kinematically optimizing the design of an anthropomorphic robotic hand. We focus on maximizing the workspace intersection of the thumb and the other fingers as well as maximizing the size of the largest graspable object. We perform this optimization and use the resulting dimensions to construct a flexible, underactuated 3D printed prototype. We verify the results of the optimization through experimentation, demonstrating that the optimized hand is capable of grasping objects ranging from less than 1 mm to 12.8 cm in diameter with a high degree of reliability. The hand is lightweight and inexpensive, weighing 333 g and costing less than 175 USD, and strong enough to lift over 1.1 lb (500 g). We demonstrate that the optimized hand outperforms an open-source 3D printed anthropomorphic hand on multiple tasks. Finally, we demonstrate the performance of our hand by employing a classification-based user intent decision system which predicts the grasp type using real-time electromyographic (EMG) activity patterns.
Manual palpation is commonly used to localize tumors and other features buried deep inside organs during open surgery. This approach is not feasible in minimally invasive or robotic surgery, as the contact with the ti...
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