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- Publisher Website: 10.1089/soro.2017.0090
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Article: Precharged Pneumatic Soft Actuators and Their Applications to Untethered Soft Robots
Title | Precharged Pneumatic Soft Actuators and Their Applications to Untethered Soft Robots |
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Authors | |
Keywords | controllable actuation precharged pneumatics soft actuator soft robotic gripper tendon control untethered soft robot |
Issue Date | 2018 |
Publisher | Mary Ann Liebert, Inc. Publishers. The Journal's web site is located at http://www.liebertpub.com/overview/soft-robotics/616/ |
Citation | Soft Robotics, 2018, v. 5 n. 5, p. 567-575 How to Cite? |
Abstract | The past decade has witnessed tremendous progress in soft robotics. Unlike most pneumatic-based methods, we present a new approach to soft robot design based on precharged pneumatics (PCP). We propose a PCP soft bending actuator, which is actuated by precharged air pressure and retracted by inextensible tendons. By pulling or releasing the tendons, the air pressure in the soft actuator is modulated, and hence, its bending angle. The tendons serve in a way similar to pressure-regulating valves that are used in typical pneumatic systems. The linear motion of tendons is transduced into complex motion via the prepressurized bent soft actuator. Furthermore, since a PCP actuator does not need any gas supply, complicated pneumatic control systems used in traditional soft robotics are eliminated. This facilitates the development of compact untethered autonomous soft robots for various applications. Both theoretical modeling and experimental validation have been conducted on a sample PCP soft actuator design. A fully untethered autonomous quadrupedal soft robot and a soft gripper have been developed to demonstrate the superiority of the proposed approach over traditional pneumatic-driven soft robots. |
Persistent Identifier | http://hdl.handle.net/10722/264148 |
ISSN | 2023 Impact Factor: 6.4 2023 SCImago Journal Rankings: 2.430 |
ISI Accession Number ID |
DC Field | Value | Language |
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dc.contributor.author | Chen, YH | - |
dc.contributor.author | Choi, SH | - |
dc.date.accessioned | 2018-10-22T07:50:21Z | - |
dc.date.available | 2018-10-22T07:50:21Z | - |
dc.date.issued | 2018 | - |
dc.identifier.citation | Soft Robotics, 2018, v. 5 n. 5, p. 567-575 | - |
dc.identifier.issn | 2169-5172 | - |
dc.identifier.uri | http://hdl.handle.net/10722/264148 | - |
dc.description.abstract | The past decade has witnessed tremendous progress in soft robotics. Unlike most pneumatic-based methods, we present a new approach to soft robot design based on precharged pneumatics (PCP). We propose a PCP soft bending actuator, which is actuated by precharged air pressure and retracted by inextensible tendons. By pulling or releasing the tendons, the air pressure in the soft actuator is modulated, and hence, its bending angle. The tendons serve in a way similar to pressure-regulating valves that are used in typical pneumatic systems. The linear motion of tendons is transduced into complex motion via the prepressurized bent soft actuator. Furthermore, since a PCP actuator does not need any gas supply, complicated pneumatic control systems used in traditional soft robotics are eliminated. This facilitates the development of compact untethered autonomous soft robots for various applications. Both theoretical modeling and experimental validation have been conducted on a sample PCP soft actuator design. A fully untethered autonomous quadrupedal soft robot and a soft gripper have been developed to demonstrate the superiority of the proposed approach over traditional pneumatic-driven soft robots. | - |
dc.language | eng | - |
dc.publisher | Mary Ann Liebert, Inc. Publishers. The Journal's web site is located at http://www.liebertpub.com/overview/soft-robotics/616/ | - |
dc.relation.ispartof | Soft Robotics | - |
dc.rights | Soft Robotics. Copyright © Mary Ann Liebert, Inc. Publishers. | - |
dc.rights | Final publication is available from Mary Ann Liebert, Inc., publishers http://dx.doi.org/[insert DOI] | - |
dc.subject | controllable actuation | - |
dc.subject | precharged pneumatics | - |
dc.subject | soft actuator | - |
dc.subject | soft robotic gripper | - |
dc.subject | tendon control | - |
dc.subject | untethered soft robot | - |
dc.title | Precharged Pneumatic Soft Actuators and Their Applications to Untethered Soft Robots | - |
dc.type | Article | - |
dc.identifier.email | Chen, YH: yhchen@hkucc.hku.hk | - |
dc.identifier.email | Choi, SH: shchoi@hkucc.hku.hk | - |
dc.identifier.authority | Chen, YH=rp00099 | - |
dc.identifier.authority | Choi, SH=rp00109 | - |
dc.description.nature | link_to_subscribed_fulltext | - |
dc.identifier.doi | 10.1089/soro.2017.0090 | - |
dc.identifier.scopus | eid_2-s2.0-85054989539 | - |
dc.identifier.hkuros | 294060 | - |
dc.identifier.volume | 5 | - |
dc.identifier.issue | 5 | - |
dc.identifier.spage | 567 | - |
dc.identifier.epage | 575 | - |
dc.identifier.isi | WOS:000436004700001 | - |
dc.publisher.place | United States | - |
dc.identifier.issnl | 2169-5172 | - |