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Pneumatically Actuated Soft Gripper with Bistable Structures
Soft Robotics, 2022This study presents the design and test of a novel self-adaptive soft gripper, integrating pneumatic actuators and bistable carbon-fiber reinforced polymer laminates. The morphology was designed using the distinct structural characteristics of bistable structures; and the stable gripping configuration of the gripper was maintained through the ...
Zheng, Zhang +6 more
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Acoustic Sensing for Soft Pneumatic Actuators
2018 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), 2018We propose a novel sensing method for soft pneumatic actuators. The method uses a single microphone, embedded into the actuator's air chamber. Contact with the environment induces sound (vibration) in the actuator. The materials and the shape of the actuator reflect, refract, and attenuate the sound as it propagates inside the actuator. This produces a
Zoller, Gabriel +2 more
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Rolling tensegrity driven by pneumatic soft actuators
2012 IEEE International Conference on Robotics and Automation, 2012In this paper, we describe the rolling of a tensegrity robot driven by a set of pneumatic soft actuators. Tensegrity is a mechanical structure consisting of a set of rigid elements connected by elastic tensional elements. Introducing tensegrity structures, we are able to build soft robots with larger size.
Yuusuke Koizumi +2 more
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3D Printed Helical Soft Pneumatic Actuators
2018 IEEE/ASME International Conference on Advanced Intelligent Mechatronics (AIM), 2018Nature abounds with complex, three-dimensional shapes, and helices which are some of the most common structures in nature. This article describes a new soft pneumatic actuator that generates bending and twisting motions. The actuator consists of several angled chambers arranged in a line that can be actuated simultaneously using one power source (air ...
Weiping Hu +2 more
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Development of a Finger Soft Pneumatic Bending Actuator
2019 4th Asia-Pacific Conference on Intelligent Robot Systems (ACIRS), 2019A growing research and development of soft manipulators that are able to mimic movements of human hand for prostheses and rehabilitation is one of the main streams in advanced robotics technologies. Soft compliant materials are overtaking the role of hard materials for this cause. This paper presents a model of soft pneumatic bending actuator (sPBA) to
Mark Joseph B. Enojas, Manuel C. Ramos
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A jumping robot using soft pneumatic actuator
2015 IEEE International Conference on Robotics and Automation (ICRA), 2015This paper presents the development of a new type of robot capable of vertical and directional jumping. The robot uses soft silicone elastomer based pneumatic actuators as legs that accelerate the platform upwards by rapid pressurization. The robot is able to control and adjust the direction of the jumping by altering the timing patterns in which the ...
Feng Ni +4 more
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Precharged Pneumatic Soft Actuators and Their Applications to Untethered Soft Robots
Soft Robotics, 2018Abstract The past decade has witnessed tremendous progress in soft robotics. Unlike most pneumatic-based methods, we present a new approach to soft robot design based on precharged pneumatics (PCP). We propose a PCP soft bending actuator, which is actuated by precharged air pressure and retracted by inextensible tendons. By pulling or
Yunquan, Li +4 more
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Folded-Tube Soft Pneumatic Actuators for Bending
Soft Robotics, 2019Abstract This article presents a model and experimental results for a new class of bending soft pneumatic actuators (SPAs) made from a single section of thin-walled flexible tubing. The actuator is formed by creasing the tubing into fin-like rectangular folds and inserting the folds through regularly spaced slits in a high-strength ...
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Multi-chamber Pneumatic Actuator for Peristaltic Soft Robot
2021 IEEE International Conference on Real-time Computing and Robotics (RCAR), 2021Soft robots have the characteristics of high flexibility and strong environmental adaptability compared with traditional robots, and the peristaltic soft robot is a critical class for this field because of the peristaltic creature's superior softness, various movement, and can through complex space.
Sheng Gao +5 more
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Development of a transformable wheel actuated by soft pneumatic actuators
International Journal of Control, Automation and Systems, 2017Small mobile robots with transformable wheels have recently emerged thanks to their increased mobility and maneuverability. When a high payload is applied to these robots, however, wheel transformation becomes difficult because they must directly overcome the payload’s weight.
Sung-Sik Yun +3 more
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