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Soft robotics literature review

1)
Soft Robotics for Chemists
Filip Ilievski, Aaron D. Mazzeo, Robert F. Shepherd, Xin Chen, and George M. Whitesides

Research group: Harvard University.


Journal: Angewandte Chemie, 2011.
Category: Actuator design.
Summary: This paper discusses the design and fabrication of a Pneumatic actuator. It is a soft
actuator able to produce an angular displacement. This actuator is widely used for many soft
robotics applications requiring a circular motion or bending. This paper discusses the design and
fabrication of the actuator. Since this paper is viewing this problem from a material engineering
perspective, so it studies the effect of the different material on the performance of the actuator. This
paper also contributes toward characterisation of the Pneumatic actuators.

2)
Pneumatic Networks for Soft Robotics that
Actuate Rapidly
Research group: Harvard University.
Journal: Advanced Functional Materials, 2014.
Category: Actuator design and improvement.
Summary: This paper proposes some modification to the original design of Pneumatic actuators to
make them actuate at a higher speed. The modified design can achieve full bending in as low as
50ms and can be operated at a frequency of 4Hz. This modification of design also increases the
life cycle of the design, and it is claimed in the paper to be able to withstand greater than million
repeated cycle of actuation. This paper shows that the modified design is highly suitable in cases
when actuation is required at a higher rate.

3)
Hand Rehabilitation using Soft-Robotics
Alberto A. Reymundo, Elvin M. Mu˜noz, Marcelo Navarro, Emir Vela and Hermano Igo
Krebs.

Research group: Department of Mechanical Engineering, MIT, USA and Department of


Mechanical Engineering, UTEC, Peru.
Conference: 6th IEEE RAS/EMBS International Conference on Biomedical Robotics and
Biomechatronics (BioRob), 2016
Category: Fabrication and control (statistical, model free).
Summary: This paper discusses the fabrication and control of a soft robot for hand rehabilitation. It
uses a Pneumatic actuator to help the patient in doing hand exercise. This paper discusses the
fabrication of the actuator briefly and propose a statistical model to control the actuator. This paper
shows that by adjusting the dimensions of pneumatic actuators, a linear relation between pressure
and actuation can be achieved.
Improvements: This system uses very simple exercises involving only one finger, more
complicated exercises can be achieved. The device also have a short lifetime.

4)
Towards a Soft Pneumatic Glove for Hand
Rehabilitation
Panagiotis Polygerinos, Stacey Lyne, Zheng Wang, Luis Fernando Nicolini, Bobak
Mosadegh, George M. Whitesides and Conor J. Walsh

Research group: Harvard University.


Conference: IEEE International Conference on Intelligent Robots and Systems (IROS), 2013.
Category: Fabrication and characterisation.
Summary: This paper presents a design of a soft robotic glove to be used in hand rehabilitation
exercises. The robot consists of pneumatic actuators. Each actuator controls the motion of a single
finger of hand. In addition to rehabilitation, this glove can also be used as a gripper. This paper
discusses the mechanical analysis of the actuators using Finite element model (FEM) and describe
the fabrication process of the actuators. The glove is characterised by deformation, force and
pressure relationship.
Improvements: This paper only focuses on fabrication and characterisation of the Glove. As a
future this can be treated as distributed system problem, each finger of the glove can be controlled
individually and can mimic the complex motion of hand.

5)
Universal soft pneumatic robotic gripper with
variable effective length
HAO Yufei, GONG Zheyuan, XIE Zhexin, GUAN Shaoya, YANG Xingbang, REN Ziyu,
WANG Tianmiao, WEN Li

Research group: School of Mechanical Engineering and Automation, Beihang university,


Beijing.
Conference: Proceedings of the 35th Chinese Control Conference, 2016.
Category: Fabrication and characterisation.
Summary: This paper discusses the fabrication of a soft robotic gripper and propose a scheme to
characterise the gripper. The proposed gripper contain four fingers. Each finger is a pneumatic
actuator with variable length effect. This paper studies the relation between actuator size, object
size, actuation pressure and pull off force. The paper presents some interesting relations between
parameters of actuators.
Improvements: This paper mostly discusses fabrication and characterisation of a soft gripper but
does not discuss the control and precision of such a gripper. As a future work, the behaviour of
gripper can be modelled.

6)
A Compliant Hand Based on a Novel Pneumatic
Actuator
Raphael Deimel and Oliver Brock
Research group: Robotics and Biology Laboratory, Technische Unverisitat Berlin.
Conference: IEEE International Conference on Robotics and Automation (ICRA), 2013.
Category: Fabrication.
Summary: This paper presents a robotic hand. Pneumatic actuators are used to act as a finger.
The pneumatic actuators are slightly modified to obtain superior performance. This paper
discussed the design and fabrication part in detail and studied the effect of object size on the force
provided by the hand. This paper also investigated the precision of the proposed robotic hand and
its ability to grasp different objects.
Improvements: This paper also employs very simple control technique; all fingers are following
same control signal. The more complicated controller can be used to mimic a human hand.

7)
Human-Compliant Body-attached Soft Robots
Toward Automatic Cooperative Ultrasound
Imaging
Hongliang Ren, Xiaoyi Gu and Koon Lin Tan

Research group: Department of Biomedical Engineering, NUS, Singapore.


Conference: IEEE 20th International Conference on Computer Supported Cooperative Work in
Design, 2016.
Category: Fabrication.
Summary: This paper presents a portable soft robot to help the physician in performing an
ultrasound. The paper discusses the superiority of using soft robot over already presents rigid
robots for ultrasound purposes. This paper presents a design of the portable robot and discusses
its fabrication process. This paper uses an actuator similar to pneumatic muscle but with slight
improvements. The presented system is shown to have better performance.

8)
Model-free control framework for multi-limb soft
robots
Vishesh Vikas, Piyush Grover, and Barry Trimmer

Research group: Neuromechanics and Biomimetics Lab, Tufts University, USA and Mitsubishi
Electric Research Laboratories, Cambridge.
Conference: IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), 2015.
Category: control (graph based, model free).
Summary: This paper mainly focuses on developing a model-free control technique for soft
robotics systems. This paper presents a control method based on the graph. The graph consists of
all possible actuator states. Each action of the robot has a corresponding path on the graph. This
paper shows the validity of the controller by performing an experiment on three limb robot.
Improvements: This paper only discusses the application of the control algorithm for very simple
motions. The validity of the algorithm can be tested for a more complicated motion of the soft robot.

9)
Measurement and Modelling of McKibben
Pneumatic Artificial Muscles
Ching-Ping Chou and Blake Hannaford

Research group: Department of Electrical Engineering, University of Washington, USA.


Conference: IEEE TRANSACTIONS ON ROBOTICS AND AUTOMATION, 1996.
Category: actuator design and mathematical modelling.
Summary: This paper describes the design and modelling of a Pneumatic artificial Pneumatic
muscles. These muscles are used in soft robotics as a linear actuators. This paper provides
mathematical model based on the geometry of muscle and mechanics of the muscle. This paper
also presents a model of the pneumatic system used for actuation. Experimental results are
presented to analyse the working of the artificial muscle. This paper also analysed energy
efficiency of the system and presented differences between artificial and actual human muscle.

10)
Analytical Modelling and Experimental Validation
of the Braided Pneumatic Muscle
Marc Doumit, Atef Fahim, and Michael Munro

Research group: Department of Mechanical Engineering, University of Ottawa, Canada.


Conference: IEEE TRANSACTIONS ON ROBOTIC, 2009.
Category: actuator design and mathematical modelling.
Summary: This paper similar to previous paper. This paper presents a more generalised
mathematical model of the artificial pneumatic muscles based on mechanical and geometric
properties of the muscle. This paper present experimental results to verify that the presented
mathematical model is accurate.

11)
Modelling of the McKibben artificial muscle: A
review
Bertrand Tondu

Research group: Electrical Engineering Department, INSA, University of Toulouse, France.


Journal: Journal of Intelligent Material Systems and Structures, 2012.
Category: actuator design and mathematical modelling.
Summary: This paper presents a review about the Pneumatic artificial muscles and gives a
detailed analysis about modelling and working of the muscle. This paper tries to overcome some
problem with the mathematical model by considering some suppositions which are only ideally true
and plays a role in practical cases. This paper also studies the hysteresis effect in the pneumatic
muscle and attribute this behaviour to the frictional effects between threads of outer sheath. This
paper proposes that more accurate modelling is possible by including textile physics into the
model.

12)
Reconsidering the McKibben muscle: Energetics,
operating fluid, and bladder material
Michael A Meller, Matthew Bryant and Ephrahim Garcia
Research group: School of Mechanical and Aerospace Engineering, Cornell University, USA
and Department of Mechanical and Aerospace Engineering, NC State University, USA.
Journal: Journal of Intelligent Material Systems and Structures, 2014.
Category: actuator design.
Summary: This paper discusses about the mechanical and material properties of pneumatic
artificial muscles in detail. This paper analysed about the pressure distribution mechanism and
studied the fluid dynamic effects in the system. This paper also analysed the effect of changing
material properties on the efficiency of the muscle and developed a model to predict relate the
efficiency of the system to mechanical, geometrical and pneumatic properties of the system.

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