Actuation And Sensing In Soft Robots
DOWNLOAD
Download Actuation And Sensing In Soft Robots PDF/ePub or read online books in Mobi eBooks. Click Download or Read Online button to get Actuation And Sensing In Soft Robots book now. This website allows unlimited access to, at the time of writing, more than 1.5 million titles, including hundreds of thousands of titles in various foreign languages. If the content not found or just blank you must refresh this page
Bioinspired Sensing Actuation And Control In Underwater Soft Robotic Systems
DOWNLOAD
Author : Derek A. Paley
language : en
Publisher: Springer Nature
Release Date : 2020-11-06
Bioinspired Sensing Actuation And Control In Underwater Soft Robotic Systems written by Derek A. Paley and has been published by Springer Nature this book supported file pdf, txt, epub, kindle and other format this book has been release on 2020-11-06 with Technology & Engineering categories.
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
DOWNLOAD
Author : Narahari Srikanth Iyengar
language : en
Publisher:
Release Date : 2020
Actuation And Sensing In Soft Robots written by Narahari Srikanth Iyengar and has been published by this book supported file pdf, txt, epub, kindle and other format this book has been release on 2020 with categories.
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.
Vision Based Proprioceptive And Force Sensing For Soft Robotic Actuator
DOWNLOAD
Author : Annan Zhang (Researcher in electrical engineering and computer science)
language : en
Publisher:
Release Date : 2022
Vision Based Proprioceptive And Force Sensing For Soft Robotic Actuator written by Annan Zhang (Researcher in electrical engineering and computer science) and has been published by this book supported file pdf, txt, epub, kindle and other format this book has been release on 2022 with categories.
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.
Enabling Soft Robotic Systems
DOWNLOAD
Author : Mohammed Al-Rubaiai
language : en
Publisher:
Release Date : 2021
Enabling Soft Robotic Systems written by Mohammed Al-Rubaiai and has been published by this book supported file pdf, txt, epub, kindle and other format this book has been release on 2021 with Electronic dissertations categories.
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.
Self Sustainable Autonomous Soft Robots
DOWNLOAD
Author : Yusen Zhao
language : en
Publisher:
Release Date : 2022
Self Sustainable Autonomous Soft Robots written by Yusen Zhao and has been published by this book supported file pdf, txt, epub, kindle and other format this book has been release on 2022 with categories.
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.
Soft Robotics
DOWNLOAD
Author : Alexander Verl
language : en
Publisher: Springer
Release Date : 2015-03-13
Soft Robotics written by Alexander Verl and has been published by Springer this book supported file pdf, txt, epub, kindle and other format this book has been release on 2015-03-13 with Technology & Engineering categories.
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«.
Electromagnetic Actuation And Sensing In Medical Robotics
DOWNLOAD
Author : Hongliang Ren
language : en
Publisher: Springer
Release Date : 2017-12-30
Electromagnetic Actuation And Sensing In Medical Robotics written by Hongliang Ren and has been published by Springer this book supported file pdf, txt, epub, kindle and other format this book has been release on 2017-12-30 with Technology & Engineering categories.
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.
The Science Of Soft Robots
DOWNLOAD
Author : Koichi Suzumori
language : en
Publisher: Springer Nature
Release Date : 2023-10-14
The Science Of Soft Robots written by Koichi Suzumori and has been published by Springer Nature this book supported file pdf, txt, epub, kindle and other format this book has been release on 2023-10-14 with Computers categories.
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.
Sensing And Control Of A Pleated Soft Actuator
DOWNLOAD
Author : Yanshi Sun
language : en
Publisher:
Release Date : 2018
Sensing And Control Of A Pleated Soft Actuator written by Yanshi Sun and has been published by this book supported file pdf, txt, epub, kindle and other format this book has been release on 2018 with Actuators categories.
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 In Rehabilitation
DOWNLOAD
Author : Amir Jafari
language : en
Publisher: Academic Press
Release Date : 2021-02-20
Soft Robotics In Rehabilitation written by Amir Jafari and has been published by Academic Press this book supported file pdf, txt, epub, kindle and other format this book has been release on 2021-02-20 with Technology & Engineering categories.
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
