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Article: Interfacing Soft And Hard: A Spring Reinforced Actuator

TitleInterfacing Soft And Hard: A Spring Reinforced Actuator
Authors
Keywordssoft material robotics
bio-inspired robot
fluid-driven actuator
continuum robot
Issue Date2019
PublisherMary Ann Liebert, Inc. Publishers. The Journal's web site is located at http://www.liebertpub.com/overview/soft-robotics/616/
Citation
Soft Robotics, 2019 How to Cite?
AbstractMuscular hydrostats have long been a source of inspiration for soft robotic designs. With their inherent compliance, they excel in unpredictable environments and can gently manipulate objects with ease. However, their performance lacks where high force or a fast-dynamic response is needed. In this study, we propose a novel spring reinforced actuator (SRA) that explores the intermediate state between muscular hydrostats and endoskeletal mechanisms. The result is that we dramatically enhance the robot dynamic performance, which is unprecedented in similar kinds of soft robots, while retaining compliant omnidirectional bending. Analytical modeling of the flexible backbone was built and experimentally validated. This is also the first attempt to perform detailed finite element analysis to investigate the strain–stress behavior of the constraining braided bellow tube. The braided interweaving threads are modeled, in which complex thread-to-thread contacts occur. Experimental evaluation of SRAs was performed for actuation force, stiffness, and dynamic response. We showcase the enhanced actuator's performance in several applications such as locomotion and heavy object manipulation.
Persistent Identifierhttp://hdl.handle.net/10722/273386
ISSN
2017 Impact Factor: 5.057

 

DC FieldValueLanguage
dc.contributor.authorFu, HC-
dc.contributor.authorHo, JD-L-
dc.contributor.authorLee, KH-
dc.contributor.authorHu, Y-
dc.contributor.authorAu, KW-
dc.contributor.authorCho, KJ-
dc.contributor.authorSze, KY-
dc.contributor.authorKwok, KW-
dc.date.accessioned2019-08-06T09:27:57Z-
dc.date.available2019-08-06T09:27:57Z-
dc.date.issued2019-
dc.identifier.citationSoft Robotics, 2019-
dc.identifier.issn2169-5172-
dc.identifier.urihttp://hdl.handle.net/10722/273386-
dc.description.abstractMuscular hydrostats have long been a source of inspiration for soft robotic designs. With their inherent compliance, they excel in unpredictable environments and can gently manipulate objects with ease. However, their performance lacks where high force or a fast-dynamic response is needed. In this study, we propose a novel spring reinforced actuator (SRA) that explores the intermediate state between muscular hydrostats and endoskeletal mechanisms. The result is that we dramatically enhance the robot dynamic performance, which is unprecedented in similar kinds of soft robots, while retaining compliant omnidirectional bending. Analytical modeling of the flexible backbone was built and experimentally validated. This is also the first attempt to perform detailed finite element analysis to investigate the strain–stress behavior of the constraining braided bellow tube. The braided interweaving threads are modeled, in which complex thread-to-thread contacts occur. Experimental evaluation of SRAs was performed for actuation force, stiffness, and dynamic response. We showcase the enhanced actuator's performance in several applications such as locomotion and heavy object manipulation.-
dc.languageeng-
dc.publisherMary Ann Liebert, Inc. Publishers. The Journal's web site is located at http://www.liebertpub.com/overview/soft-robotics/616/-
dc.relation.ispartofSoft Robotics-
dc.rightsSoft Robotics. Copyright © Mary Ann Liebert, Inc. Publishers.-
dc.rightsFinal publication is available from Mary Ann Liebert, Inc., publishers http://dx.doi.org/[insert DOI]-
dc.subjectsoft material robotics-
dc.subjectbio-inspired robot-
dc.subjectfluid-driven actuator-
dc.subjectcontinuum robot-
dc.titleInterfacing Soft And Hard: A Spring Reinforced Actuator-
dc.typeArticle-
dc.identifier.emailLee, KH: brianlkh@HKUCC-COM.hku.hk-
dc.identifier.emailSze, KY: kysze@hku.hk-
dc.identifier.emailKwok, KW: kwokkw@hku.hk-
dc.identifier.authoritySze, KY=rp00171-
dc.identifier.authorityKwok, KW=rp01924-
dc.identifier.doi10.1089/soro.2018.0118-
dc.identifier.hkuros300137-
dc.publisher.placeUnited States-

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