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Article: Customizable Three-Dimensional-Printed Origami Soft Robotic Joint With Effective Behavior Shaping for Safe Interactions

TitleCustomizable Three-Dimensional-Printed Origami Soft Robotic Joint With Effective Behavior Shaping for Safe Interactions
Authors
Keywordsbehavior shaping
customizable design
impact safety
soft roboticsthree-dimensional (3-D) printed origami
Issue Date2019
PublisherIEEE.
Citation
IEEE Transactions on Robotics, 2019, v. 35 n. 1, p. 114-123 How to Cite?
AbstractFast-growing interests in safe and effective robot-environment interactions stimulated global investigations on soft robotics. The inherent compliance of soft robots ensures promising safety features but drastically reduces force capability, thereby complicating system modeling and control. To tackle these limitations, a soft robotic joint with enhanced strength, servo performance, and impact behavior shaping is proposed in this paper, based on novel three-dimensional-printed soft origami rotary actuators. The complete workflow is presented from the concept of origami design and analytical modeling, joint design, fabrication, control, and validation experiments. The proposed approach facilitates a fully customizable joint design towards the desired force capability and motion range. Validation results from models and experiments using multiple fabricated prototypes proved the excellent performance linearity and superior force capability, with 18.5-N·m maximum torque under 180 kPa, and 300-g self-weight. The behavior shaping capability is achieved by a low-level joint-Angle servo and a high-level variable-stiffness regulation; this significantly reduces the impact torque by 53% and ensures powerful and safe interactions. The comprehensive guidelines provide insightful references for soft robotic design for wider robotic applications. © 2004-2012 IEEE.
Persistent Identifierhttp://hdl.handle.net/10722/273894
ISSN
2023 Impact Factor: 9.4
2023 SCImago Journal Rankings: 3.669
ISI Accession Number ID

 

DC FieldValueLanguage
dc.contributor.authorYI, J-
dc.contributor.authorChen, X-
dc.contributor.authorSong, C-
dc.contributor.authorZhou, J-
dc.contributor.authorLiu, Y-
dc.contributor.authorLiu, S-
dc.contributor.authorWang, Z-
dc.date.accessioned2019-08-18T14:50:47Z-
dc.date.available2019-08-18T14:50:47Z-
dc.date.issued2019-
dc.identifier.citationIEEE Transactions on Robotics, 2019, v. 35 n. 1, p. 114-123-
dc.identifier.issn1552-3098-
dc.identifier.urihttp://hdl.handle.net/10722/273894-
dc.description.abstractFast-growing interests in safe and effective robot-environment interactions stimulated global investigations on soft robotics. The inherent compliance of soft robots ensures promising safety features but drastically reduces force capability, thereby complicating system modeling and control. To tackle these limitations, a soft robotic joint with enhanced strength, servo performance, and impact behavior shaping is proposed in this paper, based on novel three-dimensional-printed soft origami rotary actuators. The complete workflow is presented from the concept of origami design and analytical modeling, joint design, fabrication, control, and validation experiments. The proposed approach facilitates a fully customizable joint design towards the desired force capability and motion range. Validation results from models and experiments using multiple fabricated prototypes proved the excellent performance linearity and superior force capability, with 18.5-N·m maximum torque under 180 kPa, and 300-g self-weight. The behavior shaping capability is achieved by a low-level joint-Angle servo and a high-level variable-stiffness regulation; this significantly reduces the impact torque by 53% and ensures powerful and safe interactions. The comprehensive guidelines provide insightful references for soft robotic design for wider robotic applications. © 2004-2012 IEEE.-
dc.languageeng-
dc.publisherIEEE.-
dc.relation.ispartofIEEE Transactions on Robotics-
dc.rightsIEEE Transactions on Robotics. Copyright © IEEE.-
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.subjectbehavior shaping-
dc.subjectcustomizable design-
dc.subjectimpact safety-
dc.subjectsoft roboticsthree-dimensional (3-D) printed origami-
dc.titleCustomizable Three-Dimensional-Printed Origami Soft Robotic Joint With Effective Behavior Shaping for Safe Interactions-
dc.typeArticle-
dc.identifier.emailWang, Z: zwangski@hku.hk-
dc.identifier.authorityWang, Z=rp01915-
dc.description.naturelink_to_subscribed_fulltext-
dc.identifier.doi10.1109/TRO.2018.2871440-
dc.identifier.scopuseid_2-s2.0-85054553974-
dc.identifier.hkuros301404-
dc.identifier.volume35-
dc.identifier.issue1-
dc.identifier.spage114-
dc.identifier.epage123-
dc.identifier.isiWOS:000458197300008-
dc.publisher.placeUnited States-
dc.identifier.issnl1552-3098-

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