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- Publisher Website: 10.1007/s42242-018-0001-6
- Scopus: eid_2-s2.0-85051143998
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Article: Principles and methods for stiffness modulation in soft robot design and development
Title | Principles and methods for stiffness modulation in soft robot design and development |
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Authors | |
Keywords | Acoustics Soft robots Stiffness modulation Ultrasonic Variable stiffness |
Issue Date | 2018 |
Publisher | Springer Singapore. The Journal's web site is located at https://link.springer.com/journal/42242 |
Citation | Bio-Design and Manufacturing, 2018, v. 1 n. 1, p. 14-25 How to Cite? |
Abstract | Compared to traditional rigid robots, soft robots, primarily made of deformable, or less rigid materials, have good adaptability, conformability and safety in interacting with the environment. Although soft robots have shown great potentials for extended applications and possibilities that are impossible or difficult for rigid body robots, it is of great importance for them to have the capability of controllable stiffness modulation. Stiffness modulation allows soft robots to have reversible change between the compliant, or flexible state and the rigid state. In this paper, we summarize existing principles and methods for stiffness modulation in soft robotic development and divide them into four groups based on their working principles. Acoustic-based methods have been proposed as the potential fifth group in stiffness modulation of soft robots. Initial design proposals based on the proposed acoustic method are presented, and challenges in further development are highlighted. © 2018, Zhejiang University Press. |
Persistent Identifier | http://hdl.handle.net/10722/273917 |
ISSN | 2023 Impact Factor: 8.1 2023 SCImago Journal Rankings: 1.330 |
ISI Accession Number ID |
DC Field | Value | Language |
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dc.contributor.author | Yang, Y | - |
dc.contributor.author | Li, Y | - |
dc.contributor.author | Chen, YH | - |
dc.date.accessioned | 2019-08-18T14:51:17Z | - |
dc.date.available | 2019-08-18T14:51:17Z | - |
dc.date.issued | 2018 | - |
dc.identifier.citation | Bio-Design and Manufacturing, 2018, v. 1 n. 1, p. 14-25 | - |
dc.identifier.issn | 2096-5524 | - |
dc.identifier.uri | http://hdl.handle.net/10722/273917 | - |
dc.description.abstract | Compared to traditional rigid robots, soft robots, primarily made of deformable, or less rigid materials, have good adaptability, conformability and safety in interacting with the environment. Although soft robots have shown great potentials for extended applications and possibilities that are impossible or difficult for rigid body robots, it is of great importance for them to have the capability of controllable stiffness modulation. Stiffness modulation allows soft robots to have reversible change between the compliant, or flexible state and the rigid state. In this paper, we summarize existing principles and methods for stiffness modulation in soft robotic development and divide them into four groups based on their working principles. Acoustic-based methods have been proposed as the potential fifth group in stiffness modulation of soft robots. Initial design proposals based on the proposed acoustic method are presented, and challenges in further development are highlighted. © 2018, Zhejiang University Press. | - |
dc.language | eng | - |
dc.publisher | Springer Singapore. The Journal's web site is located at https://link.springer.com/journal/42242 | - |
dc.relation.ispartof | Bio-Design and Manufacturing | - |
dc.rights | This is a post-peer-review, pre-copyedit version of an article published in [insert journal title]. The final authenticated version is available online at: http://dx.doi.org/[insert DOI] | - |
dc.subject | Acoustics | - |
dc.subject | Soft robots | - |
dc.subject | Stiffness modulation | - |
dc.subject | Ultrasonic | - |
dc.subject | Variable stiffness | - |
dc.title | Principles and methods for stiffness modulation in soft robot design and development | - |
dc.type | Article | - |
dc.identifier.email | Chen, YH: yhchen@hkucc.hku.hk | - |
dc.identifier.authority | Chen, YH=rp00099 | - |
dc.identifier.doi | 10.1007/s42242-018-0001-6 | - |
dc.identifier.scopus | eid_2-s2.0-85051143998 | - |
dc.identifier.hkuros | 301953 | - |
dc.identifier.volume | 1 | - |
dc.identifier.issue | 1 | - |
dc.identifier.spage | 14 | - |
dc.identifier.epage | 25 | - |
dc.identifier.isi | WOS:000443683000003 | - |
dc.publisher.place | Singapore | - |
dc.identifier.issnl | 2096-5524 | - |