Novel Bending and Helical Extensile/Contractile Pneumatic Artificial Muscles Inspired by Elephant Trunk [0.03%]
受象鼻启发的新型弯曲和螺旋伸缩式气动人工肌肉
Qinghua Guan,Jian Sun,Yanju Liu et al.
Qinghua Guan et al.
Pneumatic artificial muscles (PAMs) are an extensively investigated type of soft actuator. However, the PAM motions have been limited somewhat to uniaxial contraction and extension, restraining the development of PAMs. Given the current str...
An Underwater Robotic Manipulator with Soft Bladders and Compact Depth-Independent Actuation [0.03%]
一种具有软膀胱和紧凑型恒力驱动的水下机器人机械手
Zhong Shen,Hua Zhong,Erchao Xu et al.
Zhong Shen et al.
An underwater manipulator is essential for underwater robotic sampling and other service operations. Conventional rigid body underwater manipulators generally required substantial size and weight, leading to hindered general applications. P...
Hee Doo Yang,Alan T Asbeck
Hee Doo Yang
We present a manufacturing process for creating centimeter-scale multichambered inflatable robots and structures that can include both soft and rigid components. Our process uses a thermoplastic polyurethane (TPU) adhesive film to bond toge...
Fluid-Structure Coupling Model and Experimental Validation of Interaction Between Pneumatic Soft Actuator and Lower Limb [0.03%]
气动软执行器与下肢交互的流固耦合模型及实验验证
Dong Guan,Rong Liu,Chengwei Fei et al.
Dong Guan et al.
Pneumatic soft actuators (PSAs) are components that produce predesigned motion or force in different end-use devices. PSAs are lightweight, flexible, and compatible in human-machine interaction. The use of PSAs in compression therapy has pr...
Octopus Arm-Inspired Tapered Soft Actuators with Suckers for Improved Grasping [0.03%]
受章鱼触手启发的具有吸盘的锥形软执行器以实现更好的抓握能力
Zhexin Xie,August G Domel,Ning An et al.
Zhexin Xie et al.
Octopuses can employ their tapered arms to catch prey of all shapes and sizes due to their dexterity, flexibility, and gripping power. Intrigued by variability in arm taper angle between different octopus species, we explored the utility of...
Jinhua Zhang,Tao Wang,Jin Wang et al.
Jinhua Zhang et al.
In this work, we propose a new kind of soft-rigid hybrid actuator composed mainly of soft chambers and rigid frames. Compared with the well-known fiber-reinforced soft actuators, the hybrid actuators are able to ensure the design of noncirc...
Laser-Profiled Continuum Robot with Integrated Tension Sensing for Simultaneous Shape and Tip Force Estimation [0.03%]
集成张力感知的激光轮廓连续体机器人及其同时形状和端部力估计方法研究
Anzhu Gao,Ning Liu,Mali Shen et al.
Anzhu Gao et al.
The development of miniaturized continuum robots has a wide range of applications in minimally invasive endoluminal interventions. To navigate inside tortuous lumens without impinging on the vessel wall and causing tissue damage or the risk...
Optical Sensor-Embedded Pneumatic Artificial Muscle for Position and Force Estimation [0.03%]
集成光学传感器的气动肌肉本体传感器用于位置和力估计
Lucas O Tiziani,Frank L Hammond
Lucas O Tiziani
This study presents the design of a pneumatic artificial muscle with integrated soft optical sensing for estimation of muscle contraction length and contraction force. Each optical sensor uses an light emitting diode (LED)-photodiode pair t...
Rolling Locomotion of Cable-Driven Soft Spherical Tensegrity Robots [0.03%]
基于缆索驱动的软球形张拉整体机器人滚动运动学研究
Kyunam Kim,Adrian K Agogino,Alice M Agogino
Kyunam Kim
Soft spherical tensegrity robots are novel steerable mobile robotic platforms that are compliant, lightweight, and robust. The geometry of these robots is suitable for rolling locomotion, and they achieve this motion by properly deforming t...
Design, Modeling, and Evaluation of Fabric-Based Pneumatic Actuators for Soft Wearable Assistive Gloves [0.03%]
基于织物的软可穿戴助行手套的气动执行器的设计、建模与评估
Lisen Ge,Feifei Chen,Dong Wang et al.
Lisen Ge et al.
Textile fabrics are compliant, lightweight, and inherently anisotropic, making them promising for the design of soft pneumatic actuators. In this article, we present the design, modeling, and evaluation of a class of soft fabric-based pneum...