Conductive hydrogels‐based self‐sensing soft robot state perception and trajectory tracking DOI Open Access

Jie Ma,

Zhiji Han, Mingge Li

et al.

Journal of Field Robotics, Journal Year: 2024, Volume and Issue: unknown

Published: Aug. 28, 2024

Abstract Soft robots face significant challenges in proprioceptive sensing and precise control due to their highly deformable compliant nature. This paper addresses these by developing a conductive hydrogel sensor integrating it into soft robot for bending angle measurement motion control. A quantitative mapping between the resistance robot's gesture is formulated. Furthermore, nonlinear differentiator proposed estimate angular velocity closed‐loop control, eliminating reliance on conventional sensors. Meanwhile, controller designed track both structural nonstructural trajectories. The approach integrates advanced materials intelligent algorithms, significantly improving proprioception accuracy of robots. work bridges gap novel material design practical applications, opening up new possibilities perform delicate tasks various fields. experimental results demonstrate effectiveness achieving robust robot.

Language: Английский

Switching event-triggered self-adjusting prescribed performance force control of electrohydraulic load simulator DOI
Jiafeng Li, Ruihang Ji, Hao Yan

et al.

ISA Transactions, Journal Year: 2025, Volume and Issue: unknown

Published: April 1, 2025

Language: Английский

Citations

0
Soft Robotic Honeycomb-Velcro Jamming Gripper Design DOI Creative Commons

Yu Cheng Chung,

Wai Tuck Chow, Van Pho Nguyen

et al.

Actuators, Journal Year: 2024, Volume and Issue: 13(9), P. 359 - 359

Published: Sept. 16, 2024

In this paper, using a honeycomb-velcro structure to generate novel jamming gripper is explored. Each finger of the consists multi-layers with honeycomb sandwich acting as core wrapped by fabric sheet and sealed latex membrane. This can transit between unjammed (flexible) jammed (rigid) states thanks vacuum pressure. Various materials structure, fabric, reinforcements are investigated seek optimal combinations for making fingers. Then, such fingers deployed in experiments evaluate stiffness surface friction different loads terms or without vacuum. Vacuum pressure boosts all compared without-vacuum case. Attached gripper, shows good performance diverse manipulation food, metal component, toy, can, bottle. Furthermore, variable-stiffness under be utilized perform assembly installation operations pushing bolt into an aligned hole.

Language: Английский

Citations

1
An Octopus-Inspired Soft Pneumatic Robotic Arm DOI Creative Commons
E. Papadakis,

Dimitris P. Tsakiris,

Michael Sfakiotakis

et al.

Biomimetics, Journal Year: 2024, Volume and Issue: 9(12), P. 773 - 773

Published: Dec. 19, 2024

This paper addresses the design, development, control, and experimental evaluation of a soft robot arm whose actuation is inspired by muscular structure octopus arm, one most agile biological manipulators. The made silicone thus possesses enhanced compliance, which beneficial in variety applications where may come into contact with delicate features its environment. composed three elongated segments arranged series, each contains several pneumatically actuated chambers embedded body, induce various types deformations segment. By combining segment deformations, imitating antagonistic muscle group functionality octopus, can bend directions, increase or decrease length, as well twist around central axis. few octopus-inspired robotic arms twisting replicated motion characteristics, greatly expanding arm’s potential applications. We present design process development steps molding two-part low hardness 3d-printed molds employed. In addition, we control methodology both standalone entire three-segment arm. involves model-free closed-loop schemes, exploiting visual feedback from pair external cameras order to reconstruct real time shape pose tip.

Language: Английский

Citations

1
Modeling and end vibration suppression of space manipulators based on structural flexibility DOI Open Access
Qingyu Liu, Yijie Ding, Yuqing Wang

et al.

Journal of Physics Conference Series, Journal Year: 2024, Volume and Issue: 2897(1), P. 012004 - 012004

Published: Nov. 1, 2024

Abstract With the rising demand for more flexibility and larger workspaces in collaborative robots, rigid-flexible coupling robotic systems have garnered increasing attention. This study focuses on trajectory tracking vibration suppression RFCRSs operating 3D space. The nonlinear between angular joint positions flexible structural displacement leads to complex behaviors. To address this issue, assumed mode method is employed curve-fit first-order modal shape of arm, resulting a function. approach simplifies infinite-dimensional dynamics into fourth-order dynamical system. reference planned using polynomial programming based established kinetic model. tracked with model adaptive control (MRAC) reduce robot end vibration. Finally, effectiveness reduction associated strategy validated through comparison PD MRAC, which does not account arm flexibility.

Language: Английский

Citations

0
Conductive hydrogels‐based self‐sensing soft robot state perception and trajectory tracking DOI Open Access

Jie Ma,

Zhiji Han, Mingge Li

et al.

Journal of Field Robotics, Journal Year: 2024, Volume and Issue: unknown

Published: Aug. 28, 2024

Abstract Soft robots face significant challenges in proprioceptive sensing and precise control due to their highly deformable compliant nature. This paper addresses these by developing a conductive hydrogel sensor integrating it into soft robot for bending angle measurement motion control. A quantitative mapping between the resistance robot's gesture is formulated. Furthermore, nonlinear differentiator proposed estimate angular velocity closed‐loop control, eliminating reliance on conventional sensors. Meanwhile, controller designed track both structural nonstructural trajectories. The approach integrates advanced materials intelligent algorithms, significantly improving proprioception accuracy of robots. work bridges gap novel material design practical applications, opening up new possibilities perform delicate tasks various fields. experimental results demonstrate effectiveness achieving robust robot.

Language: Английский

Citations

0