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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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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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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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Soft Pneumatic Actuator for Rendering Anal Sphincter Tone
IEEE Transactions on Haptics, 2020Sphincter tone examination, as part of digital rectal examination (DRE), can provide essential information to support the early detection of colorectal cancer. Mastering DRE skills for junior doctors is always challenging due to the lack of real training cases.
Reza Haghighi Osgouei +3 more
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Rapid Actuation for Soft Pneumatic Actuators Using Dynamic Instability Mechanism
2020The response speed of soft pneumatic actuators is usually limited by the intrinsic material and unstressed stable form. This paper describes a design strategy for improving the response speed of pneumatic actuators by employing the dynamic instability mechanism of the actuator.
Xin-Yu Guo +2 more
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Augmented Joint Stiffness and Actuation Using Architectures of Soft Pneumatic Actuators
2018 IEEE International Conference on Robotics and Automation (ICRA), 2018Soft robotic actuators are well suited for use in exoskeleton applications due to their innate compliance and low weight. We have developed a wearable soft robotic sleeve that uses fiber reinforced elastomeric enclosures (FREEs) to provide actuation and stiffness at the elbow for augmented lifting and carrying ability.
Nicholas Thompson +4 more
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Modeling of multi-cavity composite soft pneumatic actuators
2017 24th International Conference on Mechatronics and Machine Vision in Practice (M2VIP), 2017Soft actuators have allowed for a variety of innovative applications, however, the mathematical modeling of soft actuators is still in its infancy. In this paper, we present a multi-cavity composite soft pneumatic actuator constitutes of multiple layers with embedded multiple air channels.
Zhisheng Zhang +4 more
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Miniature soft hand with curling rubber pneumatic actuators
2009 IEEE International Conference on Robotics and Automation, 2009In medical and biotechnology fields, soft devices are required because of their high safety from low mechanical impedance. FMA (Flexible Microactuator) is one of the typical soft actuators. It consists of fiber-reinforced rubber structure with multi air chambers and realizes bending motion pneumatically.
Shuichi Wakimoto +3 more
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A sensorless soft pneumatically powered actuator
Proceedings of the Institution of Mechanical Engineers, Part C: Journal of Mechanical Engineering ScienceSoft actuators have gained considerable attention in recent years because of their inherent flexibility and adaptability. Presently, the majority of these actuators require control laws for closed-loop bending control that encompass both angular displacement and angular velocity.
Ho Thi My Nu +2 more
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Automated Synthesis of Bending Pneumatic Soft Actuators
2022 IEEE 5th International Conference on Soft Robotics (RoboSoft), 2022Lawrence Smith +3 more
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