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Kang G, Kim YJ, Lee SJ, Kim SK, Lee DY, Song K. Grasping through dynamic weaving with entangled closed loops. Nat Commun 2023; 14:4633. [PMID: 37532695 PMCID: PMC10397280 DOI: 10.1038/s41467-023-40358-y] [Citation(s) in RCA: 0] [Impact Index Per Article: 0] [Reference Citation Analysis] [Abstract] [Grants] [Track Full Text] [Journal Information] [Subscribe] [Scholar Register] [Received: 04/07/2023] [Accepted: 07/24/2023] [Indexed: 08/04/2023] Open
Abstract
Pick-and-place is essential in diverse robotic applications for industries including manufacturing, and assembly. Soft grippers offer a cost-effective, and low-maintenance alternative for secure object grasping without complex sensing and control systems. However, their inherent softness normally limits payload capabilities and robustness to external disturbances, constraining their applications and hindering reliable performance. In this study, we propose a weaving-inspired grasping mechanism that substantially increases payload capacity while maintaining the use of soft and flexible materials. Drawing from weaving principles, we designed a flexible continuum structure featuring multiple closed-loop strips and employing a kirigami-inspired approach to enable the instantaneous and reversible creation of a woven configuration. The mechanical stability of the woven configuration offers exceptional loading capacity, while the softness of the gripper material ensures safe and adaptive interactions with objects. Experimental results show that the 130 g·f gripper can support up to 100 kg·f. Outperforming competitors in similar weight and softness domains, this breakthrough, enabled by the weaving principle, will broaden the scope of gripper applications to previously inaccessible or barely accessible fields, such as agriculture and logistics.
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Affiliation(s)
- Gyeongji Kang
- Center for Intelligent and Interactive Robotics, Korea Institute of Science and Technology (KIST), Seoul, 02792, Republic of Korea
- Department of Mechanical Engineering, Korea University, Seoul, 02841, Republic of Korea
| | - Young-Joo Kim
- Institute of Advanced Machines and Design, Seoul National University, Seoul, 08826, Republic of Korea
- Center for Nanomedicine, Institute for Basic Science (IBS), Seoul, 03722, Republic of Korea
| | - Sung-Jin Lee
- Department of Aerospace Engineering, Korea Advanced Institute of Science and Technology (KAIST), Daejeon, 34141, Republic of Korea
| | - Se Kwon Kim
- Department of Physics, Korea Advanced Institute of Science and Technology (KAIST), Daejeon, 34141, Republic of Korea
| | - Dae-Young Lee
- Department of Aerospace Engineering, Korea Advanced Institute of Science and Technology (KAIST), Daejeon, 34141, Republic of Korea.
- KAIST Institute for Robotics, Korea Advanced Institute of Science and Technology (KAIST), Daejeon, 34141, Republic of Korea.
| | - Kahye Song
- Center for Intelligent and Interactive Robotics, Korea Institute of Science and Technology (KIST), Seoul, 02792, Republic of Korea.
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2
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Wang S, Yan P, Huang H, Zhang N, Li B. Inflatable Metamorphic Origami. RESEARCH (WASHINGTON, D.C.) 2023; 6:0133. [PMID: 37228636 PMCID: PMC10204744 DOI: 10.34133/research.0133] [Citation(s) in RCA: 0] [Impact Index Per Article: 0] [Reference Citation Analysis] [Abstract] [Track Full Text] [Figures] [Subscribe] [Scholar Register] [Received: 11/19/2022] [Accepted: 04/11/2023] [Indexed: 05/27/2023]
Abstract
This study created a new type of inflatable metamorphic origami that has the advantage of being a highly simplified deployable system capable of realizing multiple sequential motion patterns with a monolithic actuation. The main body of the proposed metamorphic origami unit was designed as a soft inflatable metamorphic origami chamber with multiple sets of contiguous/collinear creases. In response to pneumatic pressure, the metamorphic motions are characterized by an initial unfolding around the first set of contiguous/collinear creases followed by another unfolding around the second set of contiguous/collinear creases. Furthermore, the effectiveness of the proposed approach was verified by constructing a radial deployable metamorphic origami for supporting the deployable planar solar array, a circumferential deployable metamorphic origami for supporting the deployable curved-surface antenna, a multi-fingered deployable metamorphic origami grasper for grasping large-sized objects, and a leaf-shaped deployable metamorphic origami grasper for capturing heavy objects. The proposed novel metamorphic origami is expected to serve as a foundation for designing lightweight, high-deploy/fold-ratio, low-energy-consumption space deployable systems.
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Affiliation(s)
- Sen Wang
- School of Mechanical Engineering and Automation,
Harbin Institute of Technology, Shenzhen 518052, P.R. China
| | - Peng Yan
- School of Mechanical Engineering and Automation,
Harbin Institute of Technology, Shenzhen 518052, P.R. China
| | - Hailin Huang
- School of Mechanical Engineering and Automation,
Harbin Institute of Technology, Shenzhen 518052, P.R. China
- Guangdong Provincial Key Laboratory of Intelligent Morphing Mechanisms and Adaptive Robotics,
Harbin Institute of Technology, Shenzhen 518052, P. R. China
| | - Ning Zhang
- School of Mechanical Engineering and Automation,
Harbin Institute of Technology, Shenzhen 518052, P.R. China
| | - Bing Li
- School of Mechanical Engineering and Automation,
Harbin Institute of Technology, Shenzhen 518052, P.R. China
- Guangdong Provincial Key Laboratory of Intelligent Morphing Mechanisms and Adaptive Robotics,
Harbin Institute of Technology, Shenzhen 518052, P. R. China
- State Key Laboratory of Robotics and System,
Harbin Institute of Technology, Harbin 150001, P.R. China
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Hu N, Li B, Bai R, Xie K, Chen G. A Torsion-Bending Antagonistic Bistable Actuator Enables Untethered Crawling and Swimming of Miniature Robots. RESEARCH (WASHINGTON, D.C.) 2023; 6:0116. [PMID: 37287890 PMCID: PMC10243200 DOI: 10.34133/research.0116] [Citation(s) in RCA: 3] [Impact Index Per Article: 3.0] [Reference Citation Analysis] [Abstract] [Track Full Text] [Figures] [Subscribe] [Scholar Register] [Received: 11/06/2022] [Accepted: 03/20/2023] [Indexed: 06/09/2023]
Abstract
Miniature robots show great potential in exploring narrow and confined spaces to perform various tasks, but many applications are limited by the dependence of these robots on electrical or pneumatic tethers to power supplies outboard. Developing an onboard actuator that is small in size and powerful enough to carry all the components onboard is a major challenge to eliminate the need for a tether. Bistability can trigger a dramatic energy release during switching between the 2 stable states, thus providing a promising way to overcome the intrinsic limitation of insufficient power of small actuators. In this work, the antagonistic action between torsional deflection and bending deflection in a lamina emergent torsional joint is utilized to achieve bistability, yielding a buckling-free bistable design. The unique configuration of this bistable design enables integrating of a single bending electroactive artificial muscle in the structure to form a compact, self-switching bistable actuator. A low-voltage ionic polymer-metal composites artificial muscle is employed, yielding a bistable actuator capable of generating an instantaneous angular velocity exceeding 300 °/s by a 3.75-V voltage. Two untethered robotic demonstrations using the bistable actuator are presented, including a crawling robot (gross weight of 2.7 g, including actuator, battery, and on-board circuit) that can generate a maximum instantaneous velocity of 40 mm/s and a swimming robot equipped with a pair of origami-inspired paddles that swims breaststroke. The low-voltage bistable actuator shows potential for achieving autonomous motion of various fully untethered miniature robots.
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Affiliation(s)
- Nan Hu
- State Key Laboratory for Manufacturing Systems Engineering and Shaanxi Key Laboratory of Intelligent Robots, School of Mechanical Engineering,
Xi’an Jiaotong University, Xi’an 710049, China
| | - Bo Li
- State Key Laboratory for Manufacturing Systems Engineering and Shaanxi Key Laboratory of Intelligent Robots, School of Mechanical Engineering,
Xi’an Jiaotong University, Xi’an 710049, China
| | - Ruiyu Bai
- State Key Laboratory for Manufacturing Systems Engineering and Shaanxi Key Laboratory of Intelligent Robots, School of Mechanical Engineering,
Xi’an Jiaotong University, Xi’an 710049, China
| | - Kai Xie
- School of Aerospace Science and Technology,
Xidian University, Xi’an 710126, China
| | - Guimin Chen
- State Key Laboratory for Manufacturing Systems Engineering and Shaanxi Key Laboratory of Intelligent Robots, School of Mechanical Engineering,
Xi’an Jiaotong University, Xi’an 710049, China
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Kumar KS, Nguyen TD, Kalairaj MS, Hema VM, Cai CJ, Huang H, Lim CM, Ren H. Deployable Telescopic Tubular Mechanisms With a Steerable Tongue Depressor Towards Self-Administered Oral Swab. Front Robot AI 2021; 8:612959. [PMID: 33763455 PMCID: PMC7982824 DOI: 10.3389/frobt.2021.612959] [Citation(s) in RCA: 3] [Impact Index Per Article: 1.0] [Reference Citation Analysis] [Abstract] [Key Words] [Track Full Text] [Download PDF] [Figures] [Journal Information] [Subscribe] [Scholar Register] [Received: 10/01/2020] [Accepted: 01/28/2021] [Indexed: 01/16/2023] Open
Abstract
Swabbing tests have proved to be an effective method of diagnosis for a wide range of diseases. Potential occupational health hazards and reliance on healthcare workers during traditional swabbing procedures can be mitigated by self-administered swabs. Hence, we report possible methods to apply closed kinematic chain theory to develop a self-administered viral swab to collect respiratory specimens. The proposed sensorized swab models utilizing hollow polypropylene tubes possess mechanical compliance, simple construction, and inexpensive components. In detail, the adaptation of the slider-crank mechanism combined with concepts of a deployable telescopic tubular mechanical system is explored through four different oral swab designs. A closed kinematic chain on suitable material to create a developable surface allows the translation of simple two-dimensional motion into more complex multi-dimensional motion. These foldable telescopic straws with multiple kirigami cuts minimize components involved in the system as the characteristics are built directly into the material. Further, it offers a possibility to include soft stretchable sensors for realtime performance monitoring. A variety of features were constructed and tested using the concepts above, including 1) tongue depressor and cough/gag reflex deflector; 2) changing the position and orientation of the oral swab when sample collection is in the process; 3) protective cover for the swabbing bud; 4) a combination of the features mentioned above.
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Affiliation(s)
- Kirthika Senthil Kumar
- Department of Biomedical Engineering, Faculty of Engineering, National University of Singapore, Singapore.,Singapore Institute of Manufacturing Technology, ASTAR Singapore, Fusionopolis Two, Singapore
| | - Tuan Dung Nguyen
- Department of Mechanical Engineering, Faculty of Engineering, National University of Singapore, Singapore
| | | | - Vishnu Mani Hema
- Department of Biomedical Engineering, Faculty of Engineering, National University of Singapore, Singapore.,Department of Mechanical Engineering, National Institute of Technology, Tiruchirappalli, India
| | - Catherine Jiayi Cai
- Department of Biomedical Engineering, Faculty of Engineering, National University of Singapore, Singapore.,Singapore Institute of Manufacturing Technology, ASTAR Singapore, Fusionopolis Two, Singapore
| | - Hui Huang
- Singapore Institute of Manufacturing Technology, ASTAR Singapore, Fusionopolis Two, Singapore
| | - Chwee Ming Lim
- Department of Otolaryngology-Head and Neck Surgery, Singapore General Hospital, Singapore.,Duke-NUS Graduate Medical School, Singapore
| | - Hongliang Ren
- Department of Biomedical Engineering, Faculty of Engineering, National University of Singapore, Singapore.,Department of Electronic Engineering, Faculty of Engineering, Chinese University of Hong Kong, Hong Kong
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Campbell RG, Harvey RJ. How close are we to anterior robotic skull base surgery? Curr Opin Otolaryngol Head Neck Surg 2021; 29:44-52. [PMID: 33337610 DOI: 10.1097/moo.0000000000000683] [Citation(s) in RCA: 5] [Impact Index Per Article: 1.7] [Reference Citation Analysis] [Abstract] [MESH Headings] [Track Full Text] [Journal Information] [Subscribe] [Scholar Register] [Indexed: 01/23/2023]
Abstract
PURPOSE OF REVIEW The application of robotic surgery to anterior skull base disease has yet to be defined despite the potential for improved tumour resection with less morbidity in this region. Complex anatomy and restricted access have limited the development of robotic anterior skull base surgery. RECENT FINDINGS A limited number of transoral robotic surgical anterior skull base procedures have been undertaken; however, there are significant limitations to the utilization of this technology in the anterior skull base. In this article, the advantages, disadvantages and limitations of robotic anterior skull base surgery are discussed. Currently, the major limitation is the size of the robotic endoscope and of the available instrumentation. Technological advancements that provide promise for the future development of robotic anterior skull base surgery are in development, such as single-port robots, flexible instrument systems and miniaturization and growth of minimally invasive platforms. SUMMARY Although transnasal access to the skull base is not possible with the currently available robotic systems, promising technology does exist and is in development. Robotic anterior skull base surgery promises to provide greater access to skull base disease, improve oncologic results, reduce morbidity and to reduce the ergonomic burden on the surgeon.
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Affiliation(s)
- Raewyn G Campbell
- Faculty of Medicine, Health and Human Sciences, Macquarie University
- Department of Otolaryngology - Head and Neck Surgery, Royal Prince Alfred Hospital
- Rhinology and Skull Base Research Group, St. Vincent's Centre for Applied Medical Research, University of New South Wales, Sydney, Australia
| | - Richard J Harvey
- Faculty of Medicine, Health and Human Sciences, Macquarie University
- Rhinology and Skull Base Research Group, St. Vincent's Centre for Applied Medical Research, University of New South Wales, Sydney, Australia
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Foris A, Wagener N, Boots B, Mazumdar A. Exploiting Singular Configurations for Controllable, Low-Power Friction Enhancement on Unmanned Ground Vehicles. IEEE Robot Autom Lett 2020. [DOI: 10.1109/lra.2020.2977266] [Citation(s) in RCA: 2] [Impact Index Per Article: 0.5] [Reference Citation Analysis] [Track Full Text] [Journal Information] [Subscribe] [Scholar Register] [Indexed: 11/06/2022]
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Campbell RG. Robotic surgery of the anterior skull base. Int Forum Allergy Rhinol 2019; 9:1508-1514. [DOI: 10.1002/alr.22435] [Citation(s) in RCA: 9] [Impact Index Per Article: 1.8] [Reference Citation Analysis] [Track Full Text] [Journal Information] [Subscribe] [Scholar Register] [Received: 05/23/2019] [Revised: 08/24/2019] [Accepted: 08/29/2019] [Indexed: 02/02/2023]
Affiliation(s)
- Raewyn G. Campbell
- Department of Otorhinolaryngology, Head and Neck SurgeryRoyal Prince Alfred Hospital Sydney NSW Australia
- Department of Otorhinolaryngology, Head and Neck SurgeryMacquarie University Hospital Sydney NSW Australia
- Department of Otorhinolaryngology, Head and Neck SurgeryThe Chris O'Brien Lifehouse Sydney NSW Australia
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