Journal articles on the topic 'Soft Gripper'
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1
Thongking, Witchuda, Ardi Wiranata, Ayato Minaminosono, Zebing Mao, and Shingo Maeda. "Soft Robotic Gripper Based on Multi-Layers of Dielectric Elastomer Actuators." Journal of Robotics and Mechatronics 33, no. 4 (August 20, 2021): 968–74. http://dx.doi.org/10.20965/jrm.2021.p0968.
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Dielectric elastomer actuators (DEAs) are a promising technology for soft robotics. The use of DEAs has many advantages, including light weight, resilience, and fast response for its applications, such as grippers, artificial muscles, and heel strike generators. Grippers are commonly used as grasping devices. In this study, we focus on DEA applications and propose a technology to expand the applicability of a soft gripper. The advantages of gripper-based DEAs include light weight, fast response, and low cost. We fabricated soft grippers using multiple DEA layers. The grippers successfully held or gripped an object, and we investigated the response time of the grippers and their angle characteristics. We studied the relationship between the number of DEA layers and the performance of our grippers. Our experimental results show that the multi-layered DEAs have the potential to be strong grippers.
2
Yang, Yang, Kaixiang Jin, Honghui Zhu, Gongfei Song, Haojian Lu, and Long Kang. "A 3D-Printed Fin Ray Effect Inspired Soft Robotic Gripper with Force Feedback." Micromachines 12, no. 10 (September 23, 2021): 1141. http://dx.doi.org/10.3390/mi12101141.
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Soft robotic grippers are able to carry out many tasks that traditional rigid-bodied grippers cannot perform but often have many limitations in terms of control and feedback. In this study, a Fin Ray effect inspired soft robotic gripper is proposed with its whole body directly 3D printed using soft material without the need of assembly. As a result, the soft gripper has a light weight, simple structure, is enabled with high compliance and conformability, and is able to grasp objects with arbitrary geometry. A force sensor is embedded in the inner side of the gripper, which allows the contact force required to grip the object to be measured in order to guarantee successful grasping and to provide the most suitable gripping force. In addition, it enables control and data monitoring of the gripper’s operating state at all times. Characterization and grasping demonstration of the gripper are given in the Experiment section. Results show that the gripper can be used in a wide range of scenarios and applications, such as the service robot and food industry.
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Song, Eun Jeong, Jung Soo Lee, Hyungpil Moon, Hyouk Ryeol Choi, and Ja Choon Koo. "A Multi-Curvature, Variable Stiffness Soft Gripper for Enhanced Grasping Operations." Actuators 10, no. 12 (November 29, 2021): 316. http://dx.doi.org/10.3390/act10120316.
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For soft grippers to be applied in atypical industrial environments, they must conform to an object’s exterior shape and momentarily change their stiffness. However, many of the existing grippers have limitations with respect to these functions: they grasp an object with only a single curvature and a fixed stiffness. Consequently, those constraints limit the stability of grasping and the applications. This paper introduces a new multicurvature, variable-stiffness soft gripper. Inspired by the human phalanx and combining the phalanx structure and particle jamming, this work guarantees the required grasping functions. Unlike the existing soft pneumatic grippers with one curvature and one stiffness, this work tries to divide the pressurized actuating region into three parts to generate multiple curvatures for a gripper finger, enabling the gripper to increase its degrees of freedom. Furthermore, to prevent stiffness loss at an unpressurized segment, this work combines divided actuation and the variable-stiffness capability, which guarantee successful grasping actions. In summary, this gripper generates multiple grasping curvatures with the proper stiffness, enhancing its dexterity. This work introduces the new soft gripper’s design, analytical modeling, and fabrication method and verifies the analytic model by comparing it with FEM simulations and experimental results.
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Goh, Qi-Lun, Pei-Song Chee, Eng-Hock Lim, and Danny Wee-Kiat Ng. "An AI-Assisted and Self-Powered Smart Robotic Gripper Based on Eco-EGaIn Nanocomposite for Pick-and-Place Operation." Nanomaterials 12, no. 8 (April 12, 2022): 1317. http://dx.doi.org/10.3390/nano12081317.
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High compliance and muscle-alike soft robotic grippers have shown promising performance in addressing the challenges in traditional rigid grippers. Nevertheless, a lack of control feedback (gasping speed and contact force) in a grasping operation can result in undetectable slipping and false positioning. In this study, a pneumatically driven and self-powered soft robotic gripper that can recognize the grabbed object is reported. We integrated pressure (P-TENG) and bend (B-TENG) triboelectric sensors into a soft robotic gripper to transduce the features of gripped objects in a pick-and-place operation. Both the P-TENG and B-TENG sensors are fabricated using a porous structure made of soft Ecoflex and Euthethic Gallium-Indium nanocomposite (Eco-EGaIn). The output voltage of this porous setup has been improved by 63%, as compared to the non-porous structure. The developed soft gripper successfully recognizes three different objects, cylinder, cuboid, and pyramid prism, with a good accuracy of 91.67% and has shown its potential to be beneficial in the assembly lines, sorting, VR/AR application, and education training.
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Phung, Van Binh. "SIMULATION RESEARCH ON THE GRASPING PROCESSOF THE SOFT ROBOT GRIPPER." Journal of Science and Technique 17, no. 4 (September 27, 2022): 54–69. http://dx.doi.org/10.56651/lqdtu.jst.v17.n04.403.
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Thisarticlepresents a method to simulate the dynamics of the grasping process of a soft robotic gripper that is made of silicon. The pneumatically actuated soft fingers are composed of interconnecting hollow chambers. Each soft finger is modeled as a series of line-segment links using a multibody dynamics approach. Numerical simulations using Abaqus/CAE software are used to determine the system's dynamic parameters. The soft gripper’s model is then integrated into the robotic manipulators that are built on MSC Adams software. The interaction between soft grippers and objects is modeled according to the Hertz contact theory. The proposed model allows for the investigation of soft gripper gripping capacity with various types of objects and different moving velocities and accelerations. The simulation shows that the soft gripper can hold a spherical object and a cylindrical object with the same mass of 300 g at a maximum acceleration of 9.9 m/s2and 3.6 m/s2respectively. The results of the study are being used to improve the design of the robot's soft gripper.
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Terrile, Silvia, Miguel Argüelles, and Antonio Barrientos. "Comparison of Different Technologies for Soft Robotics Grippers." Sensors 21, no. 9 (May 8, 2021): 3253. http://dx.doi.org/10.3390/s21093253.
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Soft grippers have experienced a growing interest due to their considerable flexibility that allows them to grasp a variety of objects, in contrast to hard grippers, which are designed for a specific item. One of their most remarkable characteristics is the ability to manipulate soft objects without damaging them. This, together with their wide range of applications and the use of novels materials and technologies, renders them a very robust device. In this paper, we present a comparison of different technologies for soft robotics grippers. We fabricated and tested four grippers. Two use pneumatic actuation (the gripper with chambered fingers and the jamming gripper), while the other two employ electromechanical actuation (the tendon driver gripper and the gripper with passive structure). For the experiments, a group of twelve objects with different mechanical and geometrical properties have been selected. Furthermore, we analyzed the effect of the environmental conditions on the grippers, by testing each object in three different environments: normal, humid, and dusty. The aim of this comparative study is to show the different performances of different grippers tested under the same conditions. Our findings indicate that we can highlight that the mechanical gripper with a passive structure shows greater robustness.
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Tang, Zhijie, Jiaqi Lu, Zhen Wang, and Gaoqian Ma. "The development of a new variable stiffness soft gripper." International Journal of Advanced Robotic Systems 16, no. 5 (September 1, 2019): 172988141987982. http://dx.doi.org/10.1177/1729881419879824.
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A new variable stiffness four-finger soft gripper with a combination of rigid and soft structures is designed. The combination of rigid and soft structures is one of the methods to improve the performance of soft grippers. Grasping motion is achieved by the rigid structure of the screw and the connecting rod. Soft gripper uses human finger-like structure made of silicone, and the air pressure and the rigidity of the soft fingers can be adjusted by the air pump. The soft gripper overcomes the inability of a rigid gripper to easily and safely grasp soft and brittle objects and the inability of a completely soft gripper to exert sufficiently high forces to achieve effective grasping. Grasping force can be improved by increasing the stiffness of the finger and the driving stroke of screw. The variable grasping force allows the soft gripper to grasp different shape objects, specially soft and brittle objects.
8
Seibel, Arthur, Mert Yıldız, and Berkan Zorlubaş. "A Gecko-Inspired Soft Passive Gripper." Biomimetics 5, no. 2 (March 25, 2020): 12. http://dx.doi.org/10.3390/biomimetics5020012.
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This paper presents a soft passive gripper consisting of six fluidic soft bending actuators arranged in a star-shaped manner. The actuators are oriented such that, upon pressurization, they bend against gravity. Gripping is realized by a commercial tape with mushroom-shaped adhesive structures that is glued to the bottom patches of the gripper. In this way, the object is released by peeling away the actuators from the object’s surface. In contrast to active grippers, which require continuous pressurization during gripping and holding, the presented passive gripper only requires energy for the release process. However, due to its working principle, the gripper is restricted to only flat objects or objects with at least one flat surface.
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Miron, Geneviève, Benjamin Bédard, and Jean-Sébastien Plante. "Sleeved Bending Actuators for Soft Grippers: A Durable Solution for High Force-to-Weight Applications." Actuators 7, no. 3 (July 17, 2018): 40. http://dx.doi.org/10.3390/act7030040.
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Soft grippers are known for their ability to interact with objects that are fragile, soft or of an unknown shape, as well as humans in collaborative robotics applications. However, state-of-the-art soft grippers lack either payload capacity or durability, which limits their use in industrial applications. In fact, high force density pneumatic soft grippers require high strain and operating pressure, both of which impair their durability. This work presents a new sleeved bending actuator for soft grippers that is capable of high force density and durability. The proposed actuator is based on design principles previously proven to improve the life of pneumatic artificial muscles, where a sleeve provides a uniform reinforcement that reduces local stresses and strains in the inflated membrane. The sleeved bending actuator features a silicone membrane and an external two-material sleeve that can support high pressures while providing a flexible grip. The proposed sleeved bending actuators are validated through two grippers, sized according to foreseen soft gripper applications: A small gripper for drone perching and lightweight food manipulation, and a larger one for the manipulation of heavy material (>5 kg) of various weights and sizes. Performance assessment shows that these grippers have payloads up to 5.2 kg and 20 kg, respectively. Durability testing of the grippers demonstrates that the grippers have an expected lifetime ranging from 263,000 cycles to more than 700,000 cycles. The grippers are tested in various settings, including the integration of a gripper into a Phantom 2 quadcopter, a perching demonstration, as well as the gripping of light and heavy food items. Experiments show that sleeved bending actuators constitute a promising avenue for durable and strong soft grippers.
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Crooks, Whitney, Shane Rozen-Levy, Barry Trimmer, Chris Rogers, and William Messner. "Passive gripper inspired by Manduca sexta and the Fin Ray® Effect." International Journal of Advanced Robotic Systems 14, no. 4 (July 1, 2017): 172988141772115. http://dx.doi.org/10.1177/1729881417721155.
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Soft robotic grippers are advantageous for tasks in which a robot comes into close contact with a human, must handle a delicate object, or needs to conform to an object. Most soft robotic grippers, like their hard counterparts, require actuation to maintain a grip on an object. Here, we present a passive, soft robotic gripper that requires power to open and close but not to maintain a grip, which can be problematic in environments with limited energy availability (e.g. solar or battery power). Passive grip, by not requiring power to maintain grip on an object, provides a unique and safe alternative to energy-limited or energy-scarce environments. The Tufts Passive Gripper was inspired by the passive grip of the Manduca sexta and the simplicity of the Fin Ray® Effect. The gripper can be three-dimensional printed as one part on a multimaterial three-dimensional printer and only requires four additional steps to install the motor/tendon actuation mechanism. The gripper was capable of picking up over 40 common household objects, including a tissue, a pen, silverware, a needle, a stapler, a cup, and so on. The maximum load a gripper could hold when oriented perpendicular and parallel to the ground was 530 g (1 lb) and 240 g (0.5 lb), respectively.
11
Liu, Mingfang, Lina Hao, Wei Zhang, and Zhirui Zhao. "A novel design of shape-memory alloy-based soft robotic gripper with variable stiffness." International Journal of Advanced Robotic Systems 17, no. 1 (January 1, 2020): 172988142090781. http://dx.doi.org/10.1177/1729881420907813.
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Soft robotic grippers with compliance have great superiority in grabbing objects with irregular shape or fragility compared with traditional rigid grippers. The main limitations of such systems are small grasping force resulted from properties of soft actuators and lacking variable stiffness of soft robotic grippers, which prevent them from a larger wide range of applications. This article proposes a shape-memory alloy (SMA)-based soft gripper with variable stiffness composed of three robotic fingers for grasping compliantly at low stiffness and holding robustly at high stiffness. Each robotic finger mainly consisted of stiff parts and two variable stiffness joints is installed on the base with a specific angle. The paraffin as a variable stiffness material in the joint can be heated or cooled to change the stiffness of the robotic fingers. Results of experiments have shown that a single robotic finger can approximately achieve 18-fold stiffness enhancement. Each finger with two joints can actively achieve multiple postures by both changing the corresponding stiffness of joints and actuating the SMA wire. Based on these principles, the gripper can be applied to grasp objects with different shapes and a large range of weights, and the maximum grasping force of the gripper is increased to about 10 times using the variable stiffness joints. The final experiment is conducted to validate variable stiffness of the proposed soft grippers grasping an object.
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Wang, Dan, Xiaojun Wu, Jinhua Zhang, and Yangyang Du. "A Pneumatic Novel Combined Soft Robotic Gripper with High Load Capacity and Large Grasping Range." Actuators 11, no. 1 (December 27, 2021): 3. http://dx.doi.org/10.3390/act11010003.
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Pneumatic soft grippers have been widely studied. However, the structures and material properties of existing pneumatic soft grippers limit their load capacity and manipulation range. In this article, inspired by sea lampreys, we present a pneumatic novel combined soft gripper to achieve a high load capacity and a large grasping range. This soft gripper consists of a cylindrical soft actuator and a detachable sucker. Three internal air chambers of the cylindrical soft actuator are inflated, which enables them to hold objects. Under vacuum pressure, the cylindrical soft actuator and the detachable sucker can both adsorb objects. A finite element model was constructed to simulate three inflation chambers for predicting the grasping range of the cylindrical soft actuator. The validity of the finite element model was established by an experiment. The mechanism of holding force and adsorption force were analyzed. Several groups of experiments were conducted to determine adsorption range, holding force, and adsorption force. In addition, practical applications further indicated that the novel combined soft gripper has a high load capacity (10.85 kg) at a low pressure (16 kPa) and a large grasping range (minimum diameter of the object: d = 6 mm), being able to lift a variety of objects with different weights, material properties, and shapes.
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Huang, Haiming, Linyuan Wu, Junhao Lin, Bin Fang, and Fuchun Sun. "A novel mode controllable hybrid valve pressure control method for soft robotic gripper." International Journal of Advanced Robotic Systems 15, no. 5 (September 1, 2018): 172988141880214. http://dx.doi.org/10.1177/1729881418802140.
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Compared with traditional rigid gripper with joint-linkage structure, novel soft robotic gripper gives rise to continuous concern for the advantages of no-damage grasping, convenient manufacture, easy control, and low cost. In this study, we design and built two kinds of soft robotic grippers with four fiber-reinforced soft actuators which are distributed in circular and rectangle shapes for single and twin contacts grasping. A novel hybrid valve pneumatic control scheme combining proportional and solenoid valves is proposed. Also, a mode controllable hybrid valve pressure control method is proposed to adjust internal pressure of soft robotic grippers to adapt to different grasping tasks. The experiment results verify that the performances of hybrid valve outperform those of individual proportional valve or solenoid valve in the aspects of response time and steady-state accuracy. The hybrid valve has wide range of pressure regulation, result in that the soft robotic grippers are qualified to grasp various objects with different shapes, sizes, and weights.
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Li, Hongjun, Dengyu Xie, and Yeping Xie. "A Soft Pneumatic Gripper with Endoskeletons Resisting Out-of-Plane Bending." Actuators 11, no. 9 (August 31, 2022): 246. http://dx.doi.org/10.3390/act11090246.
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The established soft pneumatic grippers have the benefit of flexible and compliant gripping, but they cannot withstand lateral loads, due to the low stiffness of soft material. This paper proposes an endoskeleton gripper. The soft action of the finger is performed by air chambers, and the gripping force is transferred by the rigid endoskeleton within the finger. The endoskeleton in the finger is similar to a wristwatch chain; the hinge mechanism permits relative rotation in the working plane but restricts out-of-plane bending, greatly increasing the finger stiffness. The endoskeleton and gripper holder can be 3D-printed with CR-PLA material. The finger was fabricated by molding of silicone gel. The gripper can perform enveloping grasping and pinch grasping operations depending on the object size, weight, and surrounding environment. The finger bending and gripper grasping performance were investigated by experiments and finite element analysis. The fingertip force of the endoskeleton gripper was about 1.45 times higher than that of the gripper without endoskeleton. It was found that the gripper can grasp objects with a maximum diameter of 80.5 mm and a weight of 450 g, which were 80.5% of the finger length and six times the finger self-weight, respectively.
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Guo, Jin, Jin-Huat Low, Yoke-Rung Wong, and Chen-Hua Yeow. "Design and Evaluation of a Novel Hybrid Soft Surgical Gripper for Safe Digital Nerve Manipulation." Micromachines 10, no. 3 (March 15, 2019): 190. http://dx.doi.org/10.3390/mi10030190.
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Forceps are essential tools for digital nerve manipulation during digital nerve repair surgery. However, surgeons have to operate forceps with extreme caution to prevent detrimental post-operative complications caused by over-gripping force. Their intrinsically safe characteristics have led to the increasing adoption of soft robotics in various biomedical applications. In this paper, a miniaturized hybrid soft surgical gripper is proposed for safe nerve manipulation in digital nerve repair surgery. This new surgical gripper includes a soft inflatable actuator and a gripper shell with a hook-shaped structure. The ability to achieve a compliant grip and safe interaction with digital nerves is provided by the inflated soft pneumatic actuator, while the rigid hook retractor still allows surgeons to scoop up the nerve from its surrounding tissues during surgery. The performance of the proposed surgical gripper was evaluated by the contact/pulling force sensing experiments and deformation measurement experiments. In the cadaver experiments, this new surgical gripper was able to complete the required nerve manipulation within the limited working space. The average deformation of the digital nerve with an average diameter of 1.45 mm gripped by the proposed surgical gripper is less than 0.22 mm. The average deformity is less than 15% of its original diameter.
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Yang, Yi, Katherine Vella, and Douglas P. Holmes. "Grasping with kirigami shells." Science Robotics 6, no. 54 (May 12, 2021): eabd6426. http://dx.doi.org/10.1126/scirobotics.abd6426.
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The ability to grab, hold, and manipulate objects is a vital and fundamental operation in biological and engineering systems. Here, we present a soft gripper using a simple material system that enables precise and rapid grasping, and can be miniaturized, modularized, and remotely actuated. This soft gripper is based on kirigami shells—thin, elastic shells patterned with an array of cuts. The kirigami cut pattern is determined by evaluating the shell’s mechanics and geometry, using a combination of experiments, finite element simulations, and theoretical modeling, which enables the gripper design to be both scalable and material independent. We demonstrate that the kirigami shell gripper can be readily integrated with an existing robotic platform or remotely actuated using a magnetic field. The kirigami cut pattern results in a simple unit cell that can be connected together in series, and again in parallel, to create kirigami gripper arrays capable of simultaneously grasping multiple delicate and slippery objects. These soft and lightweight grippers will have applications in robotics, haptics, and biomedical device design.
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Hussain, Irfan, Oraib Al-Ketan, Federico Renda, Monica Malvezzi, Domenico Prattichizzo, Lakmal Seneviratne, Rashid K. Abu Al-Rub, and Dongming Gan. "Design and prototyping soft–rigid tendon-driven modular grippers using interpenetrating phase composites materials." International Journal of Robotics Research 39, no. 14 (February 25, 2020): 1635–46. http://dx.doi.org/10.1177/0278364920907697.
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Advances in soft robotics and material science have enabled rapid progress in soft grippers. The ability to 3D print materials with softer, more elastic materials properties is a recent development and a key enabling technology for the rapid development of soft robots. However, obtaining the desired mechanical properties (e.g., stiffness) of the soft joints and information about the parameters to select in 3D printers is often not straightforward. In this article, we propose the use of interpenetrating phase composites (IPCs) materials with mathematically generated topologies based on triply periodic minimal surfaces for the development of soft grippers with desired mechanical properties. The flexible joints of the gripper can be realized through two or more phases that are topologically interconnected such that each phase represents a standalone cellular structure. As a case study, we present the design and development of a two-finger soft gripper as an example to demonstrate the application scenario of our approach. The flexible parts with desired stiffness values are realized by using IPCs materials in which the reinforcement distribution can be regulated on the basis of mathematical models. We characterized the properties of the material through a set of quantitative experiments on IPCs material specimens, and then we realized qualitative grasping tests with the gripper and a set of objects with different shapes and sizes. We showed that by properly regulating the properties of IPCs material it is possible to design modular grippers with the same structure, but different closure motions. Grippers can be customized for different tasks by easily assembling and disassembling fingers.
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Singh, Ashutosh, Ravi Butola, and Jitendra Bhaskar. "A Review on Development of Soft Gripper Using 4D Printing." INTERNATIONAL JOURNAL OF ADVANCED PRODUCTION AND INDUSTRIAL ENGINEERING 5, no. 3 (July 5, 2020): 49–55. http://dx.doi.org/10.35121/ijapie202007348.
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Improvements in soft robotics, materials, and flexible gripper technology made it possible for the soft grippers to advance rapidly. A brief analysis of soft robotic grippers featuring various material collections, physical rules, and system architectures is provided here. Soft gripping is divided into three technologies, enabling gripping with: a) actuation, b) material used, and c) Use of 3D printing in fabricating grippers. An informative analysis is provided of every form. Similar to stiff grippers, flexible and elastic end-effectors may also grab or control a broader variety of objects. The inherent versatility of the materials is increasingly being used to study advanced materials and soft structures, particularly silicone elastomers, shape-memory materials, active polymers, and gels, in the development of compact, simple, and more versatile grippers. For future work, enhanced structures, techniques, and senses play a prominent part.
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Guo, Jin, Jin Huat Low, Vinaya Rajagopal Iyer, Peiyan Wong, Chee Bing Ong, Wen Lin Loh, and Chen Hua Yeow. "A Preliminary Study on Grip-Induced Nerve Damage Caused by a Soft Pneumatic Elastomeric Gripper." Polymers 14, no. 20 (October 12, 2022): 4272. http://dx.doi.org/10.3390/polym14204272.
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Forceps, clamps, and haemostats are essential surgical tools required for all surgical interventions. While they are widely used to grasp, hold, and manipulate soft tissue, their metallic rigid structure may cause tissue damage due to the potential risk of applying excessive gripping forces. Soft pneumatic surgical grippers fabricated by silicone elastomeric materials with low Young’s modulus may offer a promising solution to minimize this unintentional damage due to their inherent excellent compliance and compressibility. The goal of this work is to evaluate and compare the grip-induced nerve damage caused by the soft pneumatic elastomeric gripper and conventional haemostats during surgical manipulation. Twenty-four Wistar rats (male, seven weeks) are subjected to sciatic nerve compression (right hind limb) using the soft pneumatic elastomer gripper and haemostats. A histopathological analysis is conducted at different time-points (Day 0, Day 3, Day 7 and Day 13) after the nerve compression to examine the morphological tissue changes between the rats in the ‘soft gripper’ group and the ‘haemostats’ group. A free walking analysis is also performed to examine the walking function of the rats after recovery from different time points. Comparing the rigid haemostats and soft gripper groups, there is a visible difference in the degree of axonal vacuolar degeneration between the groups, which could suggest the presence of substantial nerve damage in the ‘haemostats’ group. The rats in the haemostats group exhibited reduced right hind paw pressure and paw size after the nerve compression. It shows that the rats tend not to exert more force on the affected right hind limb in the haemostats group compared to the soft gripper group. In addition, the stance duration was reduced in the injured right hind limb compared to the normal left hind limb in the haemostats group. These observations show that the soft pneumatic surgical gripper made of silicone elastomeric materials might reduce the severity of grip-induced damage by providing a safe compliant grip compared to the conventional haemostats. The soft pneumatic elastomer gripper could complement the current surgical gripping tool in delicate tissue manipulation.
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Bednarek, Michal, Piotr Kicki, Jakub Bednarek, and Krzysztof Walas. "Gaining a Sense of Touch Object Stiffness Estimation Using a Soft Gripper and Neural Networks." Electronics 10, no. 1 (January 5, 2021): 96. http://dx.doi.org/10.3390/electronics10010096.
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Soft grippers are gaining significant attention in the manipulation of elastic objects, where it is required to handle soft and unstructured objects, which are vulnerable to deformations. The crucial problem is to estimate the physical parameters of a squeezed object to adjust the manipulation procedure, which poses a significant challenge. The research on physical parameters estimation using deep learning algorithms on measurements from direct interaction with objects using robotic grippers is scarce. In our work, we proposed a trainable system which performs the regression of an object stiffness coefficient from the signals registered during the interaction of the gripper with the object. First, using the physics simulation environment, we performed extensive experiments to validate our approach. Afterwards, we prepared a system that works in a real-world scenario with real data. Our learned system can reliably estimate the stiffness of an object, using the Yale OpenHand soft gripper, based on readings from Inertial Measurement Units (IMUs) attached to the fingers of the gripper. Additionally, during the experiments, we prepared three datasets of IMU readings gathered while squeezing the objects—two created in the simulation environment and one composed of real data. The dataset is the contribution to the community providing the way for developing and validating new approaches in the growing field of soft manipulation.
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Kodera, Shunnosuke, Tomoki Watanabe, Yoshiyuki Yokoyama, and Takeshi Hayakawa. "Microgripper Using Soft Microactuators for Manipulation of Living Cells." Micromachines 13, no. 5 (May 20, 2022): 794. http://dx.doi.org/10.3390/mi13050794.
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We present a microgripper actuated by a soft microactuator for manipulating a single living cell. Soft actuators have attracted attention in recent years because their compliance which can adapt to soft targets. In this study, we propose a microgripper actuated by soft thermoresponsive hydrogels. The thermoresponsive gel swells in water when the temperature is low and shrinks when the temperature is high. Therefore, the microgripper can be driven by controlling the temperature of the thermoresponsive gel. The gels are actuated by irradiating with infrared (IR) laser to localize heating. The actuation characteristics of the gripper were theoretically analyzed and we designed a gripper that gripped a ≈10 µm size cell. Additionally, we succeeded in actuating the fabricated microgripper with laser irradiation and gripping a single living cell.
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Cui, Francis R., Blanche C. Ip, Jeffrey R. Morgan, and Anubhav Tripathi. "Hydrodynamics of the Bio-Gripper: A Fluid-Driven “Claw Machine” for Soft Microtissue Translocation." SLAS TECHNOLOGY: Translating Life Sciences Innovation 23, no. 6 (June 22, 2018): 540–49. http://dx.doi.org/10.1177/2472630318775079.
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Technological advances in solid organ tissue engineering that rely on the assembly of small tissue-building parts require a novel transport method suited for soft, deformable, living objects of submillimeter- to centimeter-length scale. We describe a technology that utilizes membrane flow through a gripper to generate optimized pressure differentials across the top and bottom surfaces of microtissue so that the part may be gripped and lifted. The flow and geometry parameters are developed for automation by analyzing the fluid mechanics framework by which a gripper can lift tissue parts off solid and porous surfaces. For the axisymmetric part and gripper geometries, we examine the lift force on the part as a function of various parameters related to the gripper design, its operation, and the tissue parts and environments with which it operates. We believe our bio-gripping model can be used in various applications in high-throughput tissue engineering.
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Li, Xiangmeng, Qiangshengjie Shi, Huifen Wei, Xiaodong Zhao, Zhe Tong, and Xijing Zhu. "Soft Gripper with Electro-Thermally Driven Artificial Fingers Made of Tri-layer Polymers and a Dry Adhesive Surface." Biomimetics 7, no. 4 (October 15, 2022): 167. http://dx.doi.org/10.3390/biomimetics7040167.
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Soft grippers have attracted great interest in the soft robotics research field. Due to their lack of deformability and control over compliance, it can be challenging for them to pick up objects that are too large or too small in size. In particular, compliant objects are vulnerable to the large grasping force. Therefore, it is crucial to be able to adjust the stiffness of the gripper materials. In this study, a soft gripper consisting of three artificial fingers is reported on. Each of the artificial fingers is made of a tri-layer polymer structure. An exterior layer, made of an ecoflex–graphene composite is embedded with electric wires as a heating source, by applying direct-current potential. The Joule heat not only allows for deformation of the exterior layer, but also transfers heat to the middle layer of the thermoplastic polyurethane (TPU) elastomer. As a result, the stiffness of the TPU layer can be adjusted using electro-thermal heating. Meanwhile, the third layer consists of a polydimethylsiloxane replica as a supporting layer with a gecko-inspired dry adhesive structure. By applying voltage through electric wires, the artificial fingers can bend and, thus, the soft gripper can hold the objects, with the help of the dry adhesive layer. Finally, objects like a shuttlecock, tennis ball and a glass beaker, can be picked up by the soft gripper. This research may provide an insight for the design and fabrication of soft robotic manipulators.
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Chen, Guangming, Tao Lin, Shi Ding, Shuang Chen, Aihong Ji, and Gabriel Lodewijks. "Design and Test of an Active Pneumatic Soft Wrist for Soft Grippers." Actuators 11, no. 11 (October 27, 2022): 311. http://dx.doi.org/10.3390/act11110311.
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An active wrist can deliver both bending and twisting motions that are essential for soft grippers to perform dexterous manipulations capable of producing a wide range movements. Currently, the versions of gripper wrists are relatively heavy due to the bending and twisting motions performed by the motors. Pneumatic soft actuators can generate multiple motions with lightweight drives. This research evaluates a pneumatic soft wrist based on four parallel soft helical actuators. The kinematics models for predicting bending and twisting motions of this soft wrist are developed. Finite element method simulations are conducted to verify the functions of bending and twisting of this wrist. In addition, the active motions of the soft pneumatic wrist are experimentally demonstrated. Based on sensitivity studies of geometric parameters, a set of parameter values are identified for obtaining maximum bending and twisting angles for a bionic human wrist. Through simulation and experimental tests of the soft wrist for a soft gripper, the desired bending and twisting motions as those of a real human hand wrist are established.
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Xiang, Chaoqun, Wenyi Li, and Yisheng Guan. "A Variable Stiffness Electroadhesive Gripper Based on Low Melting Point Alloys." Polymers 14, no. 21 (October 22, 2022): 4469. http://dx.doi.org/10.3390/polym14214469.
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Electroadhesive grippers can be used to pick up a wide range of materials, and those with variable stiffness functionality can increase load capacity and strength. This paper proposes an electroadhesive gripper (VSEAF) with variable stiffness function and a simple construction based on low melting point alloys (LMPAs) with active form adaptation through pneumatic driving. Resistance wires provide active changing stiffness. For a case study, a three-fingered gripper was designed with three electroadhesive fingers of varied stiffness. It is envisaged that these electroadhesive grippers with variable stiffness would extend the preparation process and boost the use of electroadhesion in soft robot applications.
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Anwar, Muddasar, Toufik Al Khawli, Irfan Hussain, Dongming Gan, and Federico Renda. "Modeling and prototyping of a soft closed-chain modular gripper." Industrial Robot: the international journal of robotics research and application 46, no. 1 (January 21, 2019): 135–45. http://dx.doi.org/10.1108/ir-09-2018-0180.
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Purpose This paper aims to present a soft closed-chain modular gripper for robotic pick-and-place applications. The proposed biomimetic gripper design is inspired by the Fin Ray effect, derived from fish fins physiology. It is composed of three axisymmetric fingers, actuated with a single actuator. Each finger has a modular under-actuated closed-chain structure. The finger structure is compliant in contact normal direction, with stiff crossbeams reorienting to help the finger structure conform around objects. Design/methodology/approach Starting with the design and development of the proposed gripper, a consequent mathematical representation consisting of closed-chain forward and inverse kinematics is detailed. The proposed mathematical framework is validated through the finite element modeling simulations. Additionally, a set of experiments was conducted to compare the simulated and prototype finger trajectories, as well as to assess qualitative grasping ability. Findings Key Findings are the presented mathematical model for closed-loop chain mechanisms, as well as design and optimization guidelines to develop controlled closed-chain grippers. Research limitations/implications The proposed methodology and mathematical model could be taken as a fundamental modular base block to explore similar distributed degrees of freedom (DOF) closed-chain manipulators and grippers. The enhanced kinematic model contributes to optimized dynamics and control of soft closed-chain grasping mechanisms. Practical implications The approach is aimed to improve the development of soft grippers that are required to grasp complex objects found in human–robot cooperation and collaborative robot (cobot) applications. Originality/value The proposed closed-chain mathematical framework is based on distributed DOFs instead of the conventional lumped joint approach. This is to better optimize and understand the kinematics of soft robotic mechanisms.
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Lei, Jing, Zhenghao Ge, Pengju Fan, Wang Zou, Tao Jiang, and Liang Dong. "Design and Manufacture of a Flexible Pneumatic Soft Gripper." Applied Sciences 12, no. 13 (June 21, 2022): 6306. http://dx.doi.org/10.3390/app12136306.
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The soft robot has many degrees of freedom, strong environmental adaptability, and good human–computer interaction ability. As the end-effector of the soft robot, the soft gripper can grasp objects of different shapes without destructivity. Based on the theoretical analysis of the soft robot, the kinematics model of the flexible gripper and the theoretical model of the bending deformation of the air cavity were established. Accordingly, the relationship between the bending angle of the soft gripper and the air pressure was determined. Through the application of finite element software, the bending degree of the pneumatic network multi-cavity soft gripper was simulated, and the influence of structural parameters of soft actuator on bending deformation was determined. In addition, the 3D technology conducts the printing of soft gripper fixtures and molds, the injection molds the actuator, and the human–computer interaction interface controls the movement of the gripper. This paper proposes the control and monitoring of the soft gripper are realized through the electrical control module, the air circuit control module, and the sensor group module, and the size of the airflow velocity can be controlled by PWM DC speed regulation. The adaptability of the soft gripper in grasping objects was verified. The results shows that the software gripper possesses good flexibility and can better grasp objects of different shapes.
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Ouyang, Fuhao, Yuanlin Guan, Chunyu Yu, Xixin Yang, Qi Cheng, Jiawei Chen, Juan Zhao, Qinghai Zhang, and Yang Guo. "An Optimization Design Method of Rigid-Flexible Soft Fingers Based on Dielectric Elastomer Actuators." Micromachines 13, no. 11 (November 19, 2022): 2030. http://dx.doi.org/10.3390/mi13112030.
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The soft gripper has received extensive attention, due to its good adaptability and flexibility. The dielectric elastomer (DE) actuator as a flexible electroactive polymer that provides a new approach for soft grippers. However, they have the disadvantage of having a poor rigidity. Therefore, the optimization design method of a rigid-flexible soft finger is presented to improve the rigidity of the soft finger. We analyzed the interaction of the rigid and soft materials, using the finite element method (FEM), and researched the influence of the parameters (compression of the spring and pre-stretching ratio of the DE) on the bending angle. The optimal parameters were obtained using the FEM. We experimentally verified the accuracy of the proposed method. The maximum bending angle is 19.66°. Compared with the theoretical result, the maximum error is 3.84%. Simultaneously, the soft gripper with three fingers can grasp various objects and the maximum grasping quality is 11.21 g.
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Cheng, Peilin, Jiangming Jia, Yuze Ye, and Chuanyu Wu. "Modeling of a Soft-Rigid Gripper Actuated by a Linear-Extension Soft Pneumatic Actuator." Sensors 21, no. 2 (January 12, 2021): 493. http://dx.doi.org/10.3390/s21020493.
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Soft robot has been one significant study in recent decades and soft gripper is one of the popular research directions of soft robot. In a static gripping system, excessive gripping force and large deformation are the main reasons for damage of the object during the gripping process. For achieving low-damage gripping to the object in static gripping system, we proposed a soft-rigid gripper actuated by a linear-extension soft pneumatic actuator in this study. The characteristic of the gripper under a no loading state was measured. When the pressure was >70 kPa, there was an approximately linear relation between the pressure and extension length of the soft actuator. To achieve gripping force and fingertip displacement control of the gripper without sensors integrated on the finger, we presented a non-contact sensing method for gripping state estimation. To analyze the gripping force and fingertip displacement, the relationship between the pressure and extension length of the soft actuator in loading state was compared with the relationship under a no-loading state. The experimental results showed that the relative error between the analytical gripping force and the measured gripping force of the gripper was ≤2.1%. The relative error between analytical fingertip displacement and theoretical fingertip displacement of the gripper was ≤7.4%. Furthermore, the low damage gripping to fragile and soft objects in static and dynamic gripping tests showed good performance of the gripper. Overall, the results indicated the potential application of the gripper in pick-and-place operations.
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Liu, Dong, Minghao Wang, Naiyu Fang, Ming Cong, and Yu Du. "Design and tests of a non-contact Bernoulli gripper for rough-surfaced and fragile objects gripping." Assembly Automation 40, no. 5 (June 29, 2020): 735–43. http://dx.doi.org/10.1108/aa-10-2019-0171.
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Purpose Varied shapes and sizes of different products with irregular rough surface and fragile properties give a challenge to traditional contact gripping. Single Bernoulli grippers are not suited to handle fragile objects as the impact of center negative pressure force could result in large deformation and stress which damage the materials, and they are also have some limitations for gripping objects with different large and small shapes. Thus, this paper aims to design a non-contact gripper for soft, rough-surfaced and fragile objects gripping with multi Bernoulli heads, which have optimal structures and parameters. Design/methodology/approach The compressed air is ejected into four Bernoulli heads through radial and long flow channels, then passes through four strip-shaped narrow gaps after fully developing in the annular cavity to provide negative pressure. Based on the mathematic model and the computational model, the key structural parameters affecting the gripping performance are selected, and parameters optimization of the gripper is performed by computational fluid dynamics simulation analysis and performance evaluation. The orthogonal method is used and L16 orthogonal array is selected for experimental design and optimization. The characteristics of the designed gripper are tested from the aspects of pressure distribution and lifting force. Findings From the applications in gripping different objects, the designed non-contact gripper can grip varied shapes and sizes of soft, rough-surfaced, fragile and sliced objects with little effect of torque. Originality/value In this paper, a non-contact gripper is designed for handling soft, rough-surfaced and fragile objects based on the Bernoulli principle. A systematic approach, which consists of modeling, simulation, optimization and measurement is provided for the non-contact gripper design and tests.
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Roth, Franziska, Henrik Eschen, and Thorsten Schüppstuhl. "The Loop Gripper: A Soft Gripper for Honeycomb Materials." Procedia Manufacturing 55 (2021): 160–67. http://dx.doi.org/10.1016/j.promfg.2021.10.023.
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Pi, Jie, Jun Liu, Kehong Zhou, and Mingyan Qian. "An Octopus-Inspired Bionic Flexible Gripper for Apple Grasping." Agriculture 11, no. 10 (October 17, 2021): 1014. http://dx.doi.org/10.3390/agriculture11101014.
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When an octopus grasps something, the rigidity of its tentacle can change greatly, which allowing for unlimited freedom, agility, and precision. Inspired by this, a three-finger flexible bionic robot gripper was designed for apple picking. First, a flexible chamber finger was designed to drive the gripper finger to elongate, shorten, and bend, which works through a process of inflating and deflating. Further, we proposed a three-finger mode to achieve two kinds of motion states: grasping and relaxing, by simulating the movement of an octopus grasping at something. In this paper, we evaluated the bending property of the designed flexible bionic gripper through an apple grasping experiment. The experimental results show that the 100.0 g bionic gripper can load an apple with a weight of 246.5~350.0 g and a diameter of 69.0~99.0 mm, and the grasping success rate is 100%. It has a good grasping performance. Compared to other soft grippers, the proposed bionic flexible gripper has the advantages of being lightweight, and having good cushioning, low driving air pressure, and a strong grasping force.
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Białek, Marcin, and Dominik Rybarczyk. "A Comparative Study of Different Fingertips on the Object Pulling Forces in Robotic Gripper Jaws." Applied Sciences 13, no. 3 (January 17, 2023): 1247. http://dx.doi.org/10.3390/app13031247.
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This paper presents a comparative study of the use of different fingertips in robotic gripper jaws with respect to measuring the pulling force of selected shaped objects from their grasp. The authors built a dedicated test stand and provided methodology to evaluate it. The authors’ innovative approach was to design accessory-controlled jaws for the base of the Robotiq 2F-140 gripper. For the study, rigid structures—flexible soft cushions filled with air and magnetorheological fluid (MRF)—were developed for the jaw. In this way, comparable measurement results were obtained in terms of the structure of the gripper set-up. The secondary purpose of the study was to demonstrate the potential of the soft cushions that are adaptable to the shape of a gripped object. As a result, an adaptive structure was obtained that allows object pulling forces that are comparable to rigid fingertips. In doing so, this does not damage the surface of any of the interacting components. The cushions were made of thermoplastic polyurethane (TPU) formed using 3D printing technology. The results obtained during the implementation of this research may be beneficial for comparing gripper capabilities; thus, they can contribute to advances in smart devices and many industrial fields, including robotics and bioengineering.
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Cho, Geun-Sik, and Yong-Jai Park. "Soft Gripper with EGaIn Soft Sensor for Detecting Grasp Status." Applied Sciences 11, no. 15 (July 28, 2021): 6957. http://dx.doi.org/10.3390/app11156957.
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With the Fourth Industrial Revolution, many factories aim for efficient mass production, and robots are being used to reduce human workloads. In recent years, the field of gripper robots with a soft structure that can grip and move objects without damaging them has attracted considerable attention. This paper proposes a variable-stiffness soft gripper, based on previous designs, with an added silicone coating for increased friction and an EGaIn soft sensor for monitoring grip forces. The variable-stiffness structure used in this study was constructed by connecting soft structures to rigid structures and using tendons fixed to the rigid structures. Furthermore, a more responsive EGaIn soft sensor compared to existing sensors was designed by adding bumps to the path traced by the alloy. After selecting the appropriate fingertip shape, changes in the output of the EGaIn soft sensor corresponding to the object held by the soft gripper were observed, confirming that the strength of the device could be changed according to the intended purpose.
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Muhammad Razif, Muhammad Rusydi. "Bellow Soft Gripper for Agriculture." International Journal of Advanced Trends in Computer Science and Engineering 9, no. 1.4 (September 15, 2020): 1–7. http://dx.doi.org/10.30534/ijatcse/2020/0191.42020.
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Jittungboonya, Pasit, and Thavida Maneewan. "Tube-feet Inspired Soft Gripper." IOP Conference Series: Materials Science and Engineering 501 (April 9, 2019): 012048. http://dx.doi.org/10.1088/1757-899x/501/1/012048.
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Sârbu, F., A. Deaconescu, and T. Deaconescu. "Adjustable compliance soft gripper system." International Journal of Advanced Robotic Systems 16, no. 4 (July 2019): 172988141986658. http://dx.doi.org/10.1177/1729881419866580.
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This article proposes a novel, innovative, soft gripper system developed for the manipulation of objects of unknown or unspecified shape and consistence. This could be achieved by the utilization of a linear pneumatic muscle benefitting from an inherently compliant behaviour. A gripper system of this type does not require the presence of sensors or complex controllers, as it is the mechanical system itself that provides the required adaptive behaviour. The compliance of the system is ensured by the variations of the air pressure fed to the pneumatic muscle, monitored and controlled in a closed loop by means of proportional pressure regulator.
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Giannaccini, M. E., I. Georgilas, I. Horsfield, B. H. P. M. Peiris, A. Lenz, A. G. Pipe, and S. Dogramadzi. "A variable compliance, soft gripper." Autonomous Robots 36, no. 1-2 (December 1, 2013): 93–107. http://dx.doi.org/10.1007/s10514-013-9374-8.
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Justus, Kyle B., Tess Hellebrekers, Daniel D. Lewis, Adam Wood, Christian Ingham, Carmel Majidi, Philip R. LeDuc, and Cheemeng Tan. "A biosensing soft robot: Autonomous parsing of chemical signals through integrated organic and inorganic interfaces." Science Robotics 4, no. 31 (June 26, 2019): eaax0765. http://dx.doi.org/10.1126/scirobotics.aax0765.
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The integration of synthetic biology and soft robotics can fundamentally advance sensory, diagnostic, and therapeutic functionality of bioinspired machines. However, such integration is currently impeded by the lack of soft-matter architectures that interface synthetic cells with electronics and actuators for controlled stimulation and response during robotic operation. Here, we synthesized a soft gripper that uses engineered bacteria for detecting chemicals in the environment, a flexible light-emitting diode (LED) circuit for converting biological to electronic signals, and soft pneu-net actuators for converting the electronic signals to movement of the gripper. We show that the hybrid bio-LED-actuator module enabled the gripper to detect chemical signals by applying pressure and releasing the contents of a chemical-infused hydrogel. The biohybrid gripper used chemical sensing and feedback to make actionable decisions during a pick-and-place operation. This work opens previously unidentified avenues in soft materials, synthetic biology, and integrated interfacial robotic systems.
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Chen, Kaiwen, Tao Li, Tongjie Yan, Feng Xie, Qingchun Feng, Qingzhen Zhu, and Chunjiang Zhao. "A Soft Gripper Design for Apple Harvesting with Force Feedback and Fruit Slip Detection." Agriculture 12, no. 11 (October 29, 2022): 1802. http://dx.doi.org/10.3390/agriculture12111802.
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This research presents a soft gripper for apple harvesting to provide constant-pressure clamping and avoid fruit damage during slippage, to reduce the potential danger of damage to the apple pericarp during robotic harvesting. First, a three-finger gripper based on the Fin Ray structure is developed, and the influence of varied structure parameters during gripping is discussed accordingly. Second, we develop a mechanical model of the suggested servo-driven soft gripper based on the mappings of gripping force, pulling force, and servo torque. Third, a real-time control strategy for the servo is proposed, to monitor the relative position relationship between the gripper and the fruit by an ultrasonic sensor to avoid damage from the slip between the fruit and fingers. The experimental results show that the proposed soft gripper can non-destructively grasp and separate apples. In outdoor orchard experiments, the damage rate for the grasping experiments of the gripper with the force feedback system turned on was 0%; while the force feedback system was turned off, the damage rate was 20%, averaged for slight and severe damage. The three cases of rigid fingers and soft fingers with or without slip detection under the gripper structure of this study were tested by picking 25 apple samples for each set of experiments. The picking success rate for the rigid fingers was 100% but with a damage rate of 16%; the picking success rate for soft fingers with slip detection was 80%, with no fruit skin damage; in contrast, the picking success rate for soft fingers with slip detection off increased to 96%, and the damage rate was up to 8%. The experimental results demonstrated the effectiveness of the proposed control method.
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Subramaniam, Vignesh, Snehal Jain, Jai Agarwal, and Pablo Valdivia y Alvarado. "Design and characterization of a hybrid soft gripper with active palm pose control." International Journal of Robotics Research 39, no. 14 (June 1, 2020): 1668–85. http://dx.doi.org/10.1177/0278364920918918.
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The design and characterization of a soft gripper with an active palm to control grasp postures is presented herein. The gripper structure is a hybrid of soft and stiff components to facilitate integration with traditional arm manipulators. Three fingers and a palm constitute the gripper, all of which are vacuum actuated. Internal wedges are used to tailor the deformation of a soft outer reinforced skin as vacuum collapses the composite structure. A computational finite-element model is proposed to predict finger kinematics. Thanks to its active palm, the gripper is capable of grasping a wide range of part geometries and compliances while achieving a maximum payload of 30 N. The gripper natural softness enables robust open-loop grasping even when components are not properly aligned. Furthermore, the grasp pose of objects with various aspect ratios and compliances can be robustly maintained during manipulation at linear accelerations of up to 15 m/s2 and angular accelerations of up to 5.23 rad/s2.
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Batsuren, Khulan, and Dongwon Yun. "Soft Robotic Gripper with Chambered Fingers for Performing In-Hand Manipulation." Applied Sciences 9, no. 15 (July 24, 2019): 2967. http://dx.doi.org/10.3390/app9152967.
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In this work, we present a soft robotic gripper for grasping various objects by mimicking in-hand manipulation. The soft robotic gripper consists of three fingers. Each finger contains three air chambers: Two chambers (side chambers) for twisting in two different directions and one chamber (middle chamber) for grasping. The combination of these air chambers makes it possible to grasp an object and rotate it. We fabricated the soft finger using 3D-printed molds. We used the finite element method (FEM) method to design the most effective model, and later these results were compared with results from experiments. The combined experimental results were used to control the range of movement of the whole gripper. The gripper could grasp objects weighing from 4 g to 300 g just by inflating the middle chamber, and when air pressure was subsequently applied to one of the side chambers, the gripper could twist the object by 35°.
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Galley, Knopf, and Kashkoush. "Pneumatic Hyperelastic Actuators for Grasping Curved Organic Objects." Actuators 8, no. 4 (November 5, 2019): 76. http://dx.doi.org/10.3390/act8040076.
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Soft robotic grippers often incorporate pneumatically-driven actuators that can elastically deform to grasp delicate, curved organic objects with minimal surface damage. The complexity of the actuator geometry and the nonlinear stress–strain behavior of the stretchable material during inflation make it difficult to predict actuator performance prior to prototype fabrication. In this work, a scalable modular elastic air-driven actuator made from polydimethylsiloxane (PDMS) is developed for a mechanically compliant robotic gripper that grasps individual horticultural plants and fungi during automated harvesting. The key geometric design parameters include the expandable surface area and wall thickness of the deformable structure used to make contact with the target object. The impact of these parameters on actuator displacement is initially explored through simulation using the Mooney–Rivlin model of hyperelastic materials. In addition, several actuator prototypes with varying expandable wall thicknesses are fabricated using a multistep soft-lithography molding process and are inserted in a closed ring assembly for experimental testing. The gripper performance is evaluated in terms of contact force, contact area with the target, and maximum payload before slippage. The viability of the gripper with PDMS actuators for horticultural harvesting applications is illustrated by gently grasping a variety of mushroom caps.
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Biswal, Bibhuti Bhusan, P. K. Parida, and K. C. Pati. "Kinematic Analysis of a Dexterous Hand." Advanced Materials Research 433-440 (January 2012): 754–62. http://dx.doi.org/10.4028/www.scientific.net/amr.433-440.754.
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Handling of objects with irregular shapes and that of flexible/soft objects by ordinary robot grippers is difficult. Multi fingered gripper may be a solution to such handling tasks. However, dexterous grippers will be the appropriate solution to such problems. Although it is possible to develop robotic hands which can be very closely mapped to human hands, it is sometimes not to be done due to control, manufacturing and economic reasons. The present work aims at designing and developing a dexterous robotic hand for manipulation of objects.
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Chen, Yinuo, Ligang Yao, and Zhenya Wang. "Deformation Modeling and Simulation of a Novel Bionic Software Robotics Gripping Terminal Driven by Negative Pressure Based on Classical Differential Algorithm." Computational Intelligence and Neuroscience 2022 (May 6, 2022): 1–15. http://dx.doi.org/10.1155/2022/2207906.
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A general pneumatic soft gripper is proposed in this paper. Combined with the torque balance theory, the mathematical theoretical model of bending deformation of soft gripper is established based on Yeoh constitutive model and classical differential geometry. Assuming that the pressure in each inner cavity is evenly distributed, the input gas is in an ideal state, which is approximately treated as an isothermal condition, and all orifices experience blocked flow. In addition, compared with the mechanical work of gas, the energy related to gas flow and heat transfer is negligible. The nonlinear mechanical properties of silicone rubber are studied. It is regarded as isotropic and incompressible material, which is characterized by strain energy per unit volume. The material constant coefficients C10 and C20 are determined through the uniaxial tensile test, and the software gripper is simulated on the ABAQUS platform. The bending deformation models of grippers with three different force-bearing cavity structures are analyzed and compared, and the software clamping structure with the bending deformation most in line with the application conditions is selected. The limit input air pressure of the gripper and the situation of enveloping the clamping target object are analyzed. Through the bending deformation experiment, the maximum deformation angle is 72.4°. The relative error between the simulation analysis data and the prediction results of the mathematical model is no more than 3.5%, which verifies the effectiveness of the simulation and the correctness of the mathematical theoretical model of bending deformation. The soft manipulator proposed in this paper has good adaptability to grasping objects of different shapes and sizes. The minimum diameter of the target object that can be clamped is 0.1 mm. It can clamp the object weighing up to 1 kg. It has compact size, light weight, high ductility, and flexibility.
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Huang, Shiuh Jer, Wei Han Chang, and Jui Yiao Su. "Intelligent Robotic Gripper Control Strategy." Advanced Materials Research 753-755 (August 2013): 2006–9. http://dx.doi.org/10.4028/www.scientific.net/amr.753-755.2006.
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Although, on-off control robot gripper is widely employed in pick-and-place operations, it can not be applied in fragile or soft objects handling. Here, an intelligent gripper is designed with embedded distributed control structure for overcoming the uncertainty of grasped object mass and soft/hard features. An efficient model-free intelligent fuzzy sliding mode control strategy is employed to design the position and force controllers of gripper, respectively. Experimental results of pick-and-place soft and hard objects with grasping force auto-tuning and anti-slip control strategy are shown by pictures to verify this distributed system performance. The position and force tracking errors are less than 1 mm and 0.1 N, respectively.
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Shchelkunov, Evgenii B., Sergey V. Vinogradov, Marina E. Shchelkunova, and Vladimir A. Karpenko. "WORKING ELEMENT OF THE SOFT GRIPPER." Scholarly Notes of Komsomolsk-na-Amure State Technical University, no. 5 (2021): 70–78. http://dx.doi.org/10.17084/20764359-2021-53-70.
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KimTaeYeon and Gwang-Pil Jung. "Development of Bio-inspired Soft Gripper." Journal of the Korean Society of Mechanical Technology 20, no. 2 (April 2018): 213–19. http://dx.doi.org/10.17958/ksmt.20.2.201804.213.
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Park, Tongil, Keehoon Kim, Sang-Rok Oh, and Youngsu Cha. "Electrohydraulic Actuator for a Soft Gripper." Soft Robotics 7, no. 1 (February 1, 2020): 68–75. http://dx.doi.org/10.1089/soro.2019.0009.
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Sinatra, Nina R., Clark B. Teeple, Daniel M. Vogt, Kevin Kit Parker, David F. Gruber, and Robert J. Wood. "Ultragentle manipulation of delicate structures using a soft robotic gripper." Science Robotics 4, no. 33 (August 28, 2019): eaax5425. http://dx.doi.org/10.1126/scirobotics.aax5425.
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Here, we present ultragentle soft robotic actuators capable of grasping delicate specimens of gelatinous marine life. Although state-of-the-art soft robotic manipulators have demonstrated gentle gripping of brittle animals (e.g., corals) and echinoderms (e.g., sea cucumbers) in the deep sea, they are unable to nondestructively grasp more fragile soft-bodied organisms, such as jellyfish. Through an exploration of design parameters and laboratory testing of individual actuators, we confirmed that our nanofiber-reinforced soft actuators apply sufficiently low contact pressure to ensure minimal harm to typical jellyfish species. We then built a gripping device using several actuators and evaluated its underwater grasping performance in the laboratory. By assessing the gripper’s region of acquisition and robustness to external forces, we gained insight into the necessary precision and speed with which grasping maneuvers must be performed to achieve successful collection of samples. Last, we demonstrated successful manipulation of three live jellyfish species in an aquarium setting using a hand-held prototype gripper. Overall, our ultragentle gripper demonstrates an improvement in gentle sample collection compared with existing deep-sea sampling devices. Extensions of this technology may improve a variety of in situ characterization techniques used to study the ecological and genetic features of deep-sea organisms.