Documenti di Didattica
Documenti di Professioni
Documenti di Cultura
1)
Soft Robotics for Chemists
Filip Ilievski, Aaron D. Mazzeo, Robert F. Shepherd, Xin Chen, and George M. Whitesides
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.
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
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
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
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
10)
Analytical Modelling and Experimental Validation
of the Braided Pneumatic Muscle
Marc Doumit, Atef Fahim, and Michael Munro
11)
Modelling of the McKibben artificial muscle: A
review
Bertrand Tondu
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.