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Design and Experiments of Pneumatic Soft Actuators
Robotica, 2021SUMMARYThe soft actuator is made of superelastic material and embedded flexible material. In this paper, a kind of soft tube was designed and used to assemble two kinds of pneumatic soft actuators. The experiment and finite element analysis are used to comprehensively analyze and describe the bending, elongation, and torsion deformation of the soft ...
Liqiang Guo +5 more
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Soft pneumatic actuators for legged locomotion
2014 IEEE International Conference on Robotics and Biomimetics (ROBIO 2014), 2014Search and rescue robots are being used more frequently to access hazardous environments to assess situations and locate survivors. There are a wide range of existing mobile platforms for various situations and environments, but these robots are typically bulky, heavy or expensive, limiting their widespread and practical use in case of disaster ...
Juan Manuel Florez +3 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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Position and Force Control of a Soft Pneumatic Actuator
Soft Robotics, 2020Recent advances in robotic systems have increased the need for various kinds of robots in many fields, such as aerospace and medical. Utilizing hard robots in such fields can cause irrecoverable damages; therefore, scientists have taken inspiration from nature to build robots with soft bodies. In this article, a soft pneumatic actuator that reshapes in
Peyman, Abbasi +4 more
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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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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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