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- Publisher Website: 10.1109/LRA.2019.2895877
- Scopus: eid_2-s2.0-85063311330
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Article: Pre-charged pneumatic soft gripper with close loop control
Title | Pre-charged pneumatic soft gripper with close loop control |
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Authors | |
Keywords | grippers and other end effectors soft robot applications soft actuators untethered soft robotics |
Issue Date | 2019 |
Publisher | Institute of Electrical and Electronics Engineers. The Journal's web site is located at https://www.ieee.org/membership-catalog/productdetail/showProductDetailPage.html?product=PER481-ELE |
Citation | IEEE Robotics and Automation Letters, 2019, v. 4 n. 2, p. 1402-1408 How to Cite? |
Abstract | Pneumatic soft grippers have nonlinear continuum deformation enabling them to adapt to irregular object shapes. Most of the existing pneumatic soft grippers use only open-loop control. Attempts for closed-loop control of soft grippers are all based on air pressure regulation, which is inaccurate and cumbersome due to nonlinear performance of the soft actuator and the compressible nature of air. In this letter, we present a controllable soft gripper based on pre-charged pneumatic soft actuators. The soft actuators, with the same design as a normal bending pneumatic soft actuator, are pre-charged with air to a preset pressure through a one-way check valve. The bending angle and bending speed of soft actuators are controlled by servomotors through tendons based on feedback data from force and proximity sensors. Kinematic models of the soft actuators are developed. Dynamic properties are experimentally studied. A prototype gripper with closed-loop control is developed for controllable grasping demonstration. |
Persistent Identifier | http://hdl.handle.net/10722/273909 |
ISSN | 2021 Impact Factor: 4.321 2020 SCImago Journal Rankings: 1.123 |
ISI Accession Number ID |
DC Field | Value | Language |
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dc.contributor.author | LI, Y | - |
dc.contributor.author | Chen, YH | - |
dc.contributor.author | Li, Y | - |
dc.date.accessioned | 2019-08-18T14:51:07Z | - |
dc.date.available | 2019-08-18T14:51:07Z | - |
dc.date.issued | 2019 | - |
dc.identifier.citation | IEEE Robotics and Automation Letters, 2019, v. 4 n. 2, p. 1402-1408 | - |
dc.identifier.issn | 2377-3766 | - |
dc.identifier.uri | http://hdl.handle.net/10722/273909 | - |
dc.description.abstract | Pneumatic soft grippers have nonlinear continuum deformation enabling them to adapt to irregular object shapes. Most of the existing pneumatic soft grippers use only open-loop control. Attempts for closed-loop control of soft grippers are all based on air pressure regulation, which is inaccurate and cumbersome due to nonlinear performance of the soft actuator and the compressible nature of air. In this letter, we present a controllable soft gripper based on pre-charged pneumatic soft actuators. The soft actuators, with the same design as a normal bending pneumatic soft actuator, are pre-charged with air to a preset pressure through a one-way check valve. The bending angle and bending speed of soft actuators are controlled by servomotors through tendons based on feedback data from force and proximity sensors. Kinematic models of the soft actuators are developed. Dynamic properties are experimentally studied. A prototype gripper with closed-loop control is developed for controllable grasping demonstration. | - |
dc.language | eng | - |
dc.publisher | Institute of Electrical and Electronics Engineers. The Journal's web site is located at https://www.ieee.org/membership-catalog/productdetail/showProductDetailPage.html?product=PER481-ELE | - |
dc.relation.ispartof | IEEE Robotics and Automation Letters | - |
dc.rights | IEEE Robotics and Automation Letters. Copyright © Institute of Electrical and Electronics Engineers. | - |
dc.rights | ©20xx IEEE. Personal use of this material is permitted. Permission from IEEE must be obtained for all other uses, in any current or future media, including reprinting/republishing this material for advertising or promotional purposes, creating new collective works, for resale or redistribution to servers or lists, or reuse of any copyrighted component of this work in other works. | - |
dc.subject | grippers and other end effectors | - |
dc.subject | soft robot applications | - |
dc.subject | soft actuators | - |
dc.subject | untethered soft robotics | - |
dc.title | Pre-charged pneumatic soft gripper with close loop control | - |
dc.type | Article | - |
dc.identifier.email | Chen, YH: yhchen@hkucc.hku.hk | - |
dc.identifier.authority | Chen, YH=rp00099 | - |
dc.description.nature | link_to_subscribed_fulltext | - |
dc.identifier.doi | 10.1109/LRA.2019.2895877 | - |
dc.identifier.scopus | eid_2-s2.0-85063311330 | - |
dc.identifier.hkuros | 301943 | - |
dc.identifier.volume | 4 | - |
dc.identifier.issue | 2 | - |
dc.identifier.spage | 1402 | - |
dc.identifier.epage | 1408 | - |
dc.identifier.isi | WOS:000459538100030 | - |
dc.publisher.place | United States | - |
dc.identifier.issnl | 2377-3766 | - |