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pneumatic and tendon actuation coupled muti-mode actuators for soft robots with broad force and speed range

Science China(Technological Sciences) 2022年第9期65卷 2156-2169页

作者： ZHU JiaQi PU MengHao CHEN Han XU Yi DING Han WU ZhiGang State Key Laboratory of Digital Manufacturing Equipment and Technology Huazhong University of Science and TechnologyWuhan 430074China

Broad output force and speed ranges are highly desired for actuators to endow soft robots with high performance,thereby increasing the range of tasks they can accomplish.However,limited by their low structural stiffness and single actuation method,most of the existed soft actuators are still difficult to achieve a broad force and speed range with a relatively compact body structure.Here,we propose a pneumatic and tendon actuation coupled soft actuator(PTCSA)with multiple actuation modes,mainly composing of a multi-joint thermoplastic polyurethanes(TPU)-made skeleton sealed in a film sleeve.The TPU skeleton with certain structural stiffness combined with soft joints allows PTCSA to output small force and respond rapidly under pneumatic actuation,as well as output high force and flexibly regulate response speed under tendon actuation,therefore achieving a broad force and speed range with a compact structure.The multiple modes constructed from the two actuation methods with different force and speed properties can cover diverse application scenarios.To demonstrate its performance,PTCSA is further used to construct a soft robotic arm(with a maximum lifting speed of 198°/s and can easily lift a load of 200 g),an inchworm-inspired wheel-footed soft robot(moves at a high speed of 2.13 cm/s when unload or pulls a load of 300 g forward),and a soft gripper(can grasp diverse objects,from 0.1 g potato chips to an 850 g roll of Sn-0.7 Cu wire,from a high-speed moving tennis ball to an upright pen).This work indicates the potential of combining multiple complementary actuation methods to improve the force and speed range of soft actuators,and may provide inspiration for related research.

关键词： soft actuator tendon actuation pneumatic actuation broad force and speed range multiple modes

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Modeling and Experimental Evaluation of a Bionic Soft pneumatic Gripper with Joint Actuator

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Journal of Bionic Engineering 2023年第4期20卷 1532-1543页

作者： Ming Ma Quansheng Jiang Haochen Wang Yehu Shen Fengyu Xu School of Mechanical Engineering Suzhou University of Science and TechnologySuzhou215009China College of Automation Nanjing University of Posts and TelecommunicationsNanjing210003China

The pneumatic gripper in industrial applications has the advantages of structure simplicity and great adaptability,but its gripping power is usually limited due to the low modulus of soft materials.To address this problem,a novel bionic pneumatic gripper inspired by spider legs is proposed.The design has two pairs of symmetrical fingers,each finger consists of two pneumatic actuated joints,two rigid links and one pneumatic soft pad.The rigid link connects the pneumatic chamber which is enclosed in a retractable shell to increase the actuation pressure and the gripping force.The compressibility and elasticity of the soft joint and pad enable the gripper to grasp fragile objects without damage.The modeling of the bionic gripper is developed,and the parameters of the joint actuators are optimized accordingly.The prototype is manufactured and tested with the developed experimental platform,where the gripping force,flexibility and adaptability are evaluated.The results indicate that the designed gripper can grasp irregular and fragile items in sizes from 40 to 140 mm without damage,and the lifting weight is up to 15 N.

关键词： pneumatic actuation Bionic soft gripper Theoretical modeling Joint actuator

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Synergistic control of soft robotic hands for human-like grasp postures

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Science China(Technological Sciences) 2022年第3期65卷 553-568页

作者： ZHANG NingBin ZHAO Yi GU GuoYing ZHU XiangYang Robotics Institute School of Mechanical EngineeringShanghai Jiao Tong UniversityShanghai 200240China State Key Laboratory of Mechanical System and Vibration Shanghai Jiao Tong UniversityShanghai 200240China

Although significant advances in the design of soft robotic hands have been made to mimic the structure of the human hands,there are great challenges to control them for coordinated and human-like postures.Based on the principle of postural synergies in the human hand,we present a synergistic approach for coordinated control of a soft robotic hand to replicate the human-like grasp postures.To this end,we firstly develop a kinematic model to describe the control variables and the various postures of the soft robotic hand.Based on the postural synergies,we use the developed model and Principal Component Analysis(PCA)method to describe the various postures of the soft robotic hand in a low-dimensional space formed by the synergies of actuator motions.Therefore,the coordinates of these synergies can be used as low-dimensional control inputs for the soft robotic hand with a higher-dimensional postural space.Finally,we establish an experimental platform on a customized soft robotic hand with6 pneumatical actuators to verify the effectiveness of the development.Experimental results demonstrate that with only a 2-dimensional control input,the soft robotic hand can reliably replicate 30 grasp postures in the Feix taxonomy of the human hand.

关键词： soft robotic hand synergistic control human-like grasp postures principal component analysis pneumatic actuation

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A Bioinspired Robot Growing like Plant Roots

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Journal of Bionic Engineering 2023年第5期20卷 2044-2058页

作者： Giovanni Bianchi Aldo Agoni Simone Cinquemani Department of Mechanics Politecnico di MilanoVia La Masa 1Milano20156LombardiaItaly

Plants are usually considered static organisms,but they can perform a wide range of movements that can be a source of inspiration for robots.The roots’growing motion is the most noteworthy since they are excellent diggers that can move in unstructured environments and navigate past barriers.Furthermore,root growth has a high energy efficiency since it penetrates the soil at its tip,adding new material without displacing the already grown portion,minimizing the energy dissipation due to friction and lowering the inertia.A robot inspired by the growth of roots could be used in search and rescue or environmental monitoring.The design of a soft robot inspired by root growth is presented in this article.The robot body consists of a cylindrical plastic membrane folded inside itself.The robot body is inflated,and its tip is everted,expanding its length as air is blown from the base.Velcro straps are placed on the membrane’s exterior surface to keep it folded.The head is positioned inside the tip,which houses the mechanism that controls the growth direction.It consists of housing for two balloons that are selectively inflated,and their expansion applies pressure on the exterior surface,opening the Velcro straps and determining the growth direction.The robot was constructed,and a kinematic model of its motion in the plane was created and compared with experimental data.The error in predicting the turning angle is only 5%,and the resulting predicted position differs on average by 55 mm on a total length of 850 mm.

关键词： Soft robot pneumatic actuation Bioinspired robot Growing robot Plant root

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LQG Controller Design Applied to a pneumatic Stewart-Gough Platform

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International Journal of Automation and computing 2012年第1期9卷 45-53页

作者： Karmjit Singh Grewal Roger Dixon John Pearson Control System Group Department of Electronic and Electrical EngineeringLoughborough University Systems Engineering Innovation Centre(SEIC) British Aerospace and Marconi Electronic Systems(BAE Systems)

This paper is concerned with the practical application control of a pneumatically actuated Stewart-Gough platform with 6-degrees of freedom （6-DOF）. The control approach for motion control of the platform is presented using a modern control technique, namely, linear quadratic Gaussinn （LQG） with reference tracking. The LQG controller is the combination of a Kalman filter, i.e., a linear-quadratic estimator （LQE） with a linear-quadratic regulator （LQR）. The robustness of the control scheme is accessed under various load conditions, and the experimental results are shown.

关键词： Real-time control Kalman filter inverse kinematics pneumatic actuation Stewart-Gough platform

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