scholarly journals SOFT ROBOTICS: FLUID-DRIVEN SELF-FOLDING PAPERS

2018 ◽  
Author(s):  
H.I. Chun ◽  
M. Mohammadifar ◽  
S. Choi
Keyword(s):  
Soft Robotics

scholarly journals Advanced soft robot modeling in ChainQueen

Robotica ◽  
2021 ◽  
pp. 1-31
Author(s):  
Andrew Spielberg ◽  
Tao Du ◽  
Yuanming Hu ◽  
Daniela Rus ◽  
Wojciech Matusik
Keyword(s):  
Application Programming Interface ◽  
Material Point ◽  
Soft Robotics ◽  
Soft Robot ◽  
Inference Control ◽  
Simulation And Optimization ◽  
Efficient Simulation ◽  
Application Programming ◽  
Robot Modeling ◽  
Programming Interface

Abstract We present extensions to ChainQueen, an open source, fully differentiable material point method simulator for soft robotics. Previous work established ChainQueen as a powerful tool for inference, control, and co-design for soft robotics. We detail enhancements to ChainQueen, allowing for more efficient simulation and optimization and expressive co-optimization over material properties and geometric parameters. We package our simulator extensions in an easy-to-use, modular application programming interface (API) with predefined observation models, controllers, actuators, optimizers, and geometric processing tools, making it simple to prototype complex experiments in 50 lines or fewer. We demonstrate the power of our simulator extensions in over nine simulated experiments.

scholarly journals Artificial Cutaneous Sensing of Object Slippage using Soft Robotics with Closed‐Loop Feedback Process

Small Science ◽  
2021 ◽  
pp. 2100002
Author(s):  
Tomohito Sekine ◽  
Yi-Fei Wang ◽  
Jinseo Hong ◽  
Yasunori Takeda ◽  
Reo Miura ◽  
...  
Keyword(s):  
Closed Loop ◽  
Soft Robotics ◽  
Feedback Process ◽  
Loop Feedback ◽  
Closed Loop Feedback

scholarly journals A Soft Resistive Sensor with a Semicircular Cross-Sectional Channel for Soft Cardiac Catheter Ablation

Sensors ◽  
2021 ◽  
Vol 21 (12) ◽  
pp. 4130
Author(s):  
Eric Rasmussen ◽  
Daniel Guo ◽  
Vybhav Murthy ◽  
Rachit Mishra ◽  
Cameron Riviere ◽  
...  
Keyword(s):  
Catheter Ablation ◽  
Liquid Metal ◽  
Force Feedback ◽  
Applied Force ◽  
Medical Community ◽  
Soft Robotics ◽  
Soft Sensors ◽  
Cross Sectional ◽  
Cardiac Catheter ◽  
Specific Loading

The field of soft robotics has attracted the interest of the medical community due to the ability of soft elastic materials to traverse the abnormal environment of the human body. However, sensing in soft robotics has been challenging due to the sensitivity of soft sensors to various loading conditions and the nonlinear signal responses that can arise under extreme loads. Ideally, soft sensors should provide a linear response under a specific loading condition and provide a different response for other loading directions. With these specifications in mind, our team created a soft elastomeric sensor designed to provide force feedback during cardiac catheter ablation surgery. Analytical and computational methods were explored to define a relationship between resistance and applied force for a semicircular, liquid metal filled channel in the soft elastomeric sensor. Pouillet’s Law is utilized to calculate the resistance based on the change in cross-sectional area resulting from various applied pressures. FEA simulations were created to simulate the deformation of the sensor under various loads. To confirm the validity of these simulations, the elastomer was modeled as a neo-Hookean material and the liquid metal was modeled as an incompressible fluid with negligible shear modulus under uniaxial compression. Results show a linearly proportional relationship between the resistance of the sensor and the application of a uniaxial force. Altering the direction of applied force results in a quadratic relationship between total resistance and the magnitude of force.

scholarly journals Concentration Gradient‐Based Soft Robotics: Hydrogels Out of Water

2020 ◽  
Vol 30 (46) ◽  
pp. 2004417
Author(s):  
Antonio López‐Díaz ◽  
Ana Martín‐Pacheco ◽  
Antonio M. Rodríguez ◽  
M. Antonia Herrero ◽  
Andrés S. Vázquez ◽  
...  
Keyword(s):  
Concentration Gradient ◽  
Soft Robotics ◽  
Gradient Based

Chinese ink: a programmable, dual-responsive and self-sensing actuator by using a healing-assembling method

Nanoscale ◽  
2021 ◽  
Author(s):  
Jian Lin ◽  
Peidi Zhou ◽  
Zhiyuan Wen ◽  
Wei Zhang ◽  
Zhiling Luo ◽  
...  
Keyword(s):  
Soft Robotics ◽  
Dual Responsive

Actuators have wide applications in soft robotics and bionic devices. Since healing ability not only makes the actuators have longer service lives, but also allows them to be programmable through...

Scaling Up Soft Robotics: A Meter-Scale, Modular, and Reconfigurable Soft Robotic System

Soft Robotics ◽  
2021 ◽  
Author(s):  
Shuguang Li ◽  
Samer A. Awale ◽  
Katharine E. Bacher ◽  
Thomas J. Buchner ◽  
Cosimo Della Santina ◽  
...  
Keyword(s):  
Scaling Up ◽  
Robotic System ◽  
Soft Robotics

Multi length scale hierarchical architecture overcoming pressure sensing range-speed tradeoff for flexible pressure sensors

2021 ◽  
Author(s):  
Qiong Tian ◽  
Wenrong Yan ◽  
Tianding CHEN ◽  
Derek Ho
Keyword(s):  
Biomedical Applications ◽  
Pressure Sensors ◽  
Human Machine Interface ◽  
Hierarchical Architecture ◽  
Soft Robotics ◽  
Length Scale ◽  
Pressure Sensing ◽  
Sensing Range ◽  
Machine Interface ◽  
Flexible Pressure Sensors

Pressure sensing electronics have gained great attention in human-machine interface, soft robotics, and wearable biomedical applications. However, existing sensor architectures are inadequate in overcoming the classic tradeoff between sensing range,...

Processing of Self‐healing Polymers for Soft Robotics

2021 ◽  
pp. 2104798
Author(s):  
Ellen Roels ◽  
Seppe Terryn ◽  
Fumiya Iida ◽  
Anton W. Bosman ◽  
Sophie Norvez ◽  
...  
Keyword(s):  
Soft Robotics ◽  
Self Healing
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