A variable structure pneumatic soft robot
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DOI: 10.1038/s41598-020-75346-5
Abstract: In this paper, a variable structure pneumatic soft robot is proposed. Its structure is variable in that when it grasps irregular objects, it can adapt to different sizes by active expansion or contraction. Its expansion… read more here.
Keywords: variable structure; soft robot; structure pneumatic; pneumatic soft ... See more keywords
Multijointed Pneumatic Soft Hand with Flexible Thenar.
Sign Up to like & getrecommendations! Published in 2021 at "Soft robotics"
DOI: 10.1089/soro.2021.0017
Abstract: Soft robotic hands provide better safety and adaptability than rigid robotic hands. Furthermore, a multijointed structure that imitates the movement of a human hand represents significant progress in realizing its anthropomorphism. In this study, we… read more here.
Keywords: pneumatic soft; thenar; hand flexible; multijointed pneumatic ... See more keywords
Nonlinear Error Feedback Positioning Control for a Pneumatic Soft Bionic Fin via an Extended State Observer
Sign Up to like & getrecommendations! Published in 2020 at "IEEE Access"
DOI: 10.1109/access.2020.2966037
Abstract: This paper presents a nonlinear error feedback controller for a pneumatic soft bionic fin based on an extended state observer. Manufacturing process is shown for a bionic stingray with the pneumatic soft bionic fin. A… read more here.
Keywords: bionic fin; soft bionic; extended state; state observer ... See more keywords
Which is the best PID variant for pneumatic soft robots? an experimental study
Sign Up to like & getrecommendations! Published in 2020 at "IEEE/CAA Journal of Automatica Sinica"
DOI: 10.1109/jas.2020.1003045
Abstract: This paper presents an experimental study to compare the performance of model-free control strategies for pneumatic soft robots. Fabricated using soft materials, soft robots have gained much attention in academia and industry during recent years… read more here.
Keywords: model free; control; experimental study; soft robots ... See more keywords
Pre-Charged Pneumatic Soft Gripper With Closed-Loop Control
Sign Up to like & getrecommendations! Published in 2019 at "IEEE Robotics and Automation Letters"
DOI: 10.1109/lra.2019.2895877
Abstract: Pneumatic soft grippers have nonlinear continuum deformation enabling them to adapt to irregular object shapes. Most of the existing pneumatic soft grippers use only open-loop control. Attempts for closed-loop control of soft grippers are all… read more here.
Keywords: gripper; closed loop; loop control; pneumatic soft ... See more keywords
Analytical Modeling of a Membrane-Based Pneumatic Soft Gripper
Sign Up to like & getrecommendations! Published in 2022 at "IEEE Robotics and Automation Letters"
DOI: 10.1109/lra.2022.3183794
Abstract: Finite deformation is the principal actuation basis of elastomer-based pneumatic soft actuators. Desired deformation behavior is the key design requirement for such actuators. The objective of current study is to optimize the design of a… read more here.
Keywords: based pneumatic; membrane based; gripper; model ... See more keywords
Sensing and Reconstruction of 3-D Deformation on Pneumatic Soft Robots
Sign Up to like & getrecommendations! Published in 2021 at "IEEE/ASME Transactions on Mechatronics"
DOI: 10.1109/tmech.2021.3078263
Abstract: Real-time proprioception is a challenging problem for soft robots, which have virtually infinite degrees of freedom in body deformation. When multiple actuators are used, it becomes more difficult as deformation can also occur on actuators… read more here.
Keywords: shape; soft robots; deformation pneumatic; pneumatic soft ... See more keywords
Development and Performance Analysis of Pneumatic Soft-Bodied Bionic Actuator
Sign Up to like & getrecommendations! Published in 2021 at "Applied Bionics and Biomechanics"
DOI: 10.1155/2021/6623059
Abstract: The design of a pneumatic soft-bodied bionic actuator derives from the structural characteristics and motion mechanism of biological muscles, combined with the nonlinear hyperelasticity of silica gel, which can improve the mobility and environmental adaptability… read more here.
Keywords: soft bodied; pneumatic soft; analysis; bionic actuator ... See more keywords
External Force Estimation of Pneumatic Soft Actuator with Built-in Displacement Sensor
Sign Up to like & getrecommendations! Published in 2021 at "Sensors and Materials"
DOI: 10.18494/sam.2021.3152
Abstract: We have proposed an extension-type pneumatic soft actuator made of a silicone tube covered by a metal spring. The spring is used to reinforce the outer periphery and to estimate the extension of the actuator… read more here.
Keywords: soft actuator; external force; force; pneumatic soft ... See more keywords