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Lin J, Ke J, Xiao R, Jiang X, Li M, Xiao X, Guo Z. Bioinspired Bidirectional Stiffening Soft Actuators Enable Versatile and Robust Grasping. Soft Robot 2024; 11:494-507. [PMID: 38386775 DOI: 10.1089/soro.2022.0212] [Citation(s) in RCA: 0] [Impact Index Per Article: 0] [Reference Citation Analysis] [Abstract] [Key Words] [MESH Headings] [Track Full Text] [Journal Information] [Subscribe] [Scholar Register] [Indexed: 02/24/2024] Open
Abstract
The bending stiffness modulation mechanism for soft grippers has gained considerable attention to improve grasping versatility, capacity, and stability. However, lateral stability is usually ignored or hard to achieve at the same time with good bending stiffness modulation performance. Therefore, this article presents a bioinspired bidirectional stiffening soft actuator (BISA), enabling compliant and stable performance. BISA combines the air tendon actuation (ATA) and a bone-like structure (BLS). The ATA is the main actuation of the BISA, and the bending stiffness can be modulated with a maximum stiffness of about 0.7 N/mm and a maximum magnification of three times when the bending angle is 45°. Inspired by the morphological structure of the phalanx, the lateral stiffness can be modulated by changing the pulling force of the BLS. The actuator with BLSs can improve the lateral stiffness by about 3.9 times compared to the one without BLSs. The maximum lateral stiffness can reach 0.46 N/mm. And the lateral stiffness can be modulated by decoupling about 1.3 times (e.g., from 0.35 to 0.46 N/mm when the bending angle is 45°). The test results show that the influence of the rigid structures on bending is small with about 1.5 mm maximum position errors of the distal point of the actuator in different pulling forces. The advantages brought by the proposed method enable versatile four-finger grasping. The performance of this gripper is characterized and demonstrated on multiscale, multiweight, and multimodal grasping tasks.
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Affiliation(s)
- Jianfeng Lin
- School of Power and Mechanical Engineering, Wuhan University, Wuhan, China
| | - Jingwei Ke
- School of Power and Mechanical Engineering, Wuhan University, Wuhan, China
| | - Ruikang Xiao
- School of Power and Mechanical Engineering, Wuhan University, Wuhan, China
| | - Xiangtao Jiang
- School of Power and Mechanical Engineering, Wuhan University, Wuhan, China
| | - Miao Li
- Institute of Technological Sciences, Wuhan University, Wuhan, China
| | - Xiaohui Xiao
- School of Power and Mechanical Engineering, Wuhan University, Wuhan, China
| | - Zhao Guo
- School of Power and Mechanical Engineering, Wuhan University, Wuhan, China
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2
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Krimsky E, Collins SH. Elastic energy-recycling actuators for efficient robots. Sci Robot 2024; 9:eadj7246. [PMID: 38507474 DOI: 10.1126/scirobotics.adj7246] [Citation(s) in RCA: 0] [Impact Index Per Article: 0] [Reference Citation Analysis] [Abstract] [Track Full Text] [Journal Information] [Subscribe] [Scholar Register] [Received: 07/12/2023] [Accepted: 02/20/2024] [Indexed: 03/22/2024]
Abstract
Electric motors are widely used in robots but waste energy in many applications. We introduce an elastic energy-recycling actuator that maintains the versatility of motors while improving energy efficiency in cyclic tasks. The actuator comprises a motor in parallel with an array of springs that can be individually engaged and disengaged, while retaining stored energy, by pairs of low-power electroadhesive clutches. We developed a prototype actuator and tested it in five repetitive tasks with features common in robotic applications but difficult to perform efficiently. The actuator reduced power consumption by at least 50% in all cases and by 97% in the best case. Elastic energy recovery, controlled by low-power clutches, can improve the efficiency of mobile robots, assistive devices, and other engineered systems.
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Affiliation(s)
- Erez Krimsky
- Department of Mechanical Engineering, Stanford University, Stanford, CA 94305, USA
| | - Steven H Collins
- Department of Mechanical Engineering, Stanford University, Stanford, CA 94305, USA
- Department of Bioengineering, Stanford University, Stanford, CA 94305, USA
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3
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Silva AB, Murcia M, Mohseni O, Takahashi R, Forner-Cordero A, Seyfarth A, Hosoda K, Sharbafi MA. Design of Low-Cost Modular Bio-Inspired Electric-Pneumatic Actuator (EPA)-Driven Legged Robots. Biomimetics (Basel) 2024; 9:164. [PMID: 38534849 DOI: 10.3390/biomimetics9030164] [Citation(s) in RCA: 0] [Impact Index Per Article: 0] [Reference Citation Analysis] [Abstract] [Key Words] [Grants] [Track Full Text] [Journal Information] [Subscribe] [Scholar Register] [Received: 02/01/2024] [Revised: 02/29/2024] [Accepted: 03/04/2024] [Indexed: 03/28/2024] Open
Abstract
Exploring the fundamental mechanisms of locomotion extends beyond mere simulation and modeling. It necessitates the utilization of physical test benches to validate hypotheses regarding real-world applications of locomotion. This study introduces cost-effective modular robotic platforms designed specifically for investigating the intricacies of locomotion and control strategies. Expanding upon our prior research in electric-pneumatic actuation (EPA), we present the mechanical and electrical designs of the latest developments in the EPA robot series. These include EPA Jumper, a human-sized segmented monoped robot, and its extension EPA Walker, a human-sized bipedal robot. Both replicate the human weight and inertia distributions, featuring co-actuation through electrical motors and pneumatic artificial muscles. These low-cost modular platforms, with considerations for degrees of freedom and redundant actuation, (1) provide opportunities to study different locomotor subfunctions-stance, swing, and balance; (2) help investigate the role of actuation schemes in tasks such as hopping and walking; and (3) allow testing hypotheses regarding biological locomotors in real-world physical test benches.
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Affiliation(s)
- Alessandro Brugnera Silva
- Lauflabor Locomotion Laboratory, Centre for Cognitive Science, Technical University of Darmstadt, 64289 Darmstadt, Germany
- Biomechatronics Laboratory, Department of Mechatronics and Mechanical Systems of the Polytechnic School of the University of São Paulo (USP), São Paulo 05508-030, SP, Brazil
| | - Marc Murcia
- Lauflabor Locomotion Laboratory, Centre for Cognitive Science, Technical University of Darmstadt, 64289 Darmstadt, Germany
| | - Omid Mohseni
- Lauflabor Locomotion Laboratory, Centre for Cognitive Science, Technical University of Darmstadt, 64289 Darmstadt, Germany
| | - Ryu Takahashi
- Adaptive Robotics Laboratory, Graduate School of Engineering Science, Osaka University, Toyonaka 560-0043, Japan
| | - Arturo Forner-Cordero
- Biomechatronics Laboratory, Department of Mechatronics and Mechanical Systems of the Polytechnic School of the University of São Paulo (USP), São Paulo 05508-030, SP, Brazil
| | - Andre Seyfarth
- Lauflabor Locomotion Laboratory, Centre for Cognitive Science, Technical University of Darmstadt, 64289 Darmstadt, Germany
| | - Koh Hosoda
- Adaptive Robotics Laboratory, Graduate School of Engineering Science, Osaka University, Toyonaka 560-0043, Japan
- Graduate School of Engineering, Kyoto University, Kyoto 606-8501, Japan
| | - Maziar Ahmad Sharbafi
- Lauflabor Locomotion Laboratory, Centre for Cognitive Science, Technical University of Darmstadt, 64289 Darmstadt, Germany
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Abourachid A, Chevallereau C, Pelletan I, Wenger P. An upright life, the postural stability of birds: a tensegrity system. J R Soc Interface 2023; 20:20230433. [PMID: 37963555 PMCID: PMC10645509 DOI: 10.1098/rsif.2023.0433] [Citation(s) in RCA: 0] [Impact Index Per Article: 0] [Reference Citation Analysis] [Abstract] [Key Words] [MESH Headings] [Grants] [Track Full Text] [Journal Information] [Subscribe] [Scholar Register] [Received: 07/28/2023] [Accepted: 10/18/2023] [Indexed: 11/16/2023] Open
Abstract
Birds are so stable that they can rest and even sleep standing up. We propose that stable static balance is achieved by tensegrity. The rigid bones can be held together by tension in the tendons, allowing the system to stabilize under the action of gravity. We used the proportions of the bird's osteomuscular system to create a mathematical model. First, the extensor muscles and tendons of the leg are replaced by a single cable that follows the leg and is guided by joint pulleys. Analysis of the model shows that it can achieve balance. However, it does not match the biomechanical characteristics of the bird's body and is not stable. We then replaced the single cable with four cables, roughly corresponding to the extensor groups, and added a ligament loop at the knee. The model is then able to reach a stable equilibrium and the biomechanical characteristics are satisfied. Some of the anatomical features used in our model correspond to innovations unique to the avian lineage. We propose that tensegrity, which allows light and stable mechanical systems, is fundamental to the evolution of the avian body plan. It can also be used as an alternative model for bipedal robots.
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Affiliation(s)
- Anick Abourachid
- Muséum National d'Histoire Naturelle CNRS, Mecadev, 57 rue Cuvier, 75231 Paris Cedex 05, France
| | | | - Idriss Pelletan
- Muséum National d'Histoire Naturelle CNRS, Mecadev, 57 rue Cuvier, 75231 Paris Cedex 05, France
| | - Philippe Wenger
- Nantes Université, École Centrale Nantes, CNRS, LS2N, UMR 6004, 44000 Nantes, France
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Ijspeert AJ, Daley MA. Integration of feedforward and feedback control in the neuromechanics of vertebrate locomotion: a review of experimental, simulation and robotic studies. J Exp Biol 2023; 226:jeb245784. [PMID: 37565347 DOI: 10.1242/jeb.245784] [Citation(s) in RCA: 9] [Impact Index Per Article: 9.0] [Reference Citation Analysis] [Abstract] [Key Words] [MESH Headings] [Track Full Text] [Journal Information] [Subscribe] [Scholar Register] [Indexed: 08/12/2023]
Abstract
Animal locomotion is the result of complex and multi-layered interactions between the nervous system, the musculo-skeletal system and the environment. Decoding the underlying mechanisms requires an integrative approach. Comparative experimental biology has allowed researchers to study the underlying components and some of their interactions across diverse animals. These studies have shown that locomotor neural circuits are distributed in the spinal cord, the midbrain and higher brain regions in vertebrates. The spinal cord plays a key role in locomotor control because it contains central pattern generators (CPGs) - systems of coupled neuronal oscillators that provide coordinated rhythmic control of muscle activation that can be viewed as feedforward controllers - and multiple reflex loops that provide feedback mechanisms. These circuits are activated and modulated by descending pathways from the brain. The relative contributions of CPGs, feedback loops and descending modulation, and how these vary between species and locomotor conditions, remain poorly understood. Robots and neuromechanical simulations can complement experimental approaches by testing specific hypotheses and performing what-if scenarios. This Review will give an overview of key knowledge gained from comparative vertebrate experiments, and insights obtained from neuromechanical simulations and robotic approaches. We suggest that the roles of CPGs, feedback loops and descending modulation vary among animals depending on body size, intrinsic mechanical stability, time required to reach locomotor maturity and speed effects. We also hypothesize that distal joints rely more on feedback control compared with proximal joints. Finally, we highlight important opportunities to address fundamental biological questions through continued collaboration between experimentalists and engineers.
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Affiliation(s)
- Auke J Ijspeert
- BioRobotics Laboratory, EPFL - Ecole Polytechnique Fédérale de Lausanne, 1015 Lausanne, Switzerland
| | - Monica A Daley
- Department of Ecology and Evolutionary Biology, University of California, Irvine, Irvine, CA 92697, USA
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Wang Z, Ge W, Zhang Y, Liu B, Liu B, Jin S, Li Y. Optimization Design and Performance Analysis of a Bionic Knee Joint Based on the Geared Five-Bar Mechanism. Bioengineering (Basel) 2023; 10:bioengineering10050582. [PMID: 37237651 DOI: 10.3390/bioengineering10050582] [Citation(s) in RCA: 0] [Impact Index Per Article: 0] [Reference Citation Analysis] [Abstract] [Key Words] [Track Full Text] [Journal Information] [Subscribe] [Scholar Register] [Received: 04/07/2023] [Revised: 05/05/2023] [Accepted: 05/09/2023] [Indexed: 05/28/2023] Open
Abstract
Animal joint motion is a combination of rotation and translational motion, which brings high stability, high energy utilization, and other advantages. At present, the hinge joint is widely used in the legged robot. The simple motion characteristic of the hinge joint rotating around the fixed axis limits the improvement of the robot's motion performance. In this paper, by imitating the knee joint of a kangaroo, we propose a new bionic geared five-bar knee joint mechanism to improve the energy utilization rate of the legged robot and reduce the required driving power. Firstly, based on image processing technology, the trajectory curve of the instantaneous center of rotation (ICR) of the kangaroo knee joint was quickly obtained. Then, the bionic knee joint was designed by the single-degree-of-freedom geared five-bar mechanism and the parameters for each part of the mechanism were optimized. Finally, based on the inverted pendulum model and the Newton-Euler recursive method, the dynamics model of the single leg of the robot in the landing stage was established, and the influence of the designed bionic knee joint and hinge joint on the robot's motion performance was compared and analyzed. The proposed bionic geared five-bar knee joint mechanism can more closely track the given trajectory of the total center of mass motion, has abundant motion characteristics, and can effectively reduce the power demand and energy consumption of the robot knee actuators under the high-speed running and jumping gait.
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Affiliation(s)
- Zhuo Wang
- School of Mechanical Engineering, Northwestern Polytechnical University, Xi'an 710072, China
| | - Wenjie Ge
- School of Mechanical Engineering, Northwestern Polytechnical University, Xi'an 710072, China
| | - Yonghong Zhang
- School of Mechanical Engineering, Northwestern Polytechnical University, Xi'an 710072, China
| | - Bo Liu
- School of Mechanical Engineering, Northwestern Polytechnical University, Xi'an 710072, China
| | - Bin Liu
- School of Mechanical Engineering, Northwestern Polytechnical University, Xi'an 710072, China
| | - Shikai Jin
- School of Mechanical Engineering, Northwestern Polytechnical University, Xi'an 710072, China
| | - Yuzhu Li
- School of Mechanical Engineering, Northwestern Polytechnical University, Xi'an 710072, China
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Mo A, Izzi F, Gönen EC, Haeufle D, Badri-Spröwitz A. Slack-based tunable damping leads to a trade-off between robustness and efficiency in legged locomotion. Sci Rep 2023; 13:3290. [PMID: 36841875 PMCID: PMC9968281 DOI: 10.1038/s41598-023-30318-3] [Citation(s) in RCA: 0] [Impact Index Per Article: 0] [Reference Citation Analysis] [Abstract] [Key Words] [Track Full Text] [Figures] [Journal Information] [Subscribe] [Scholar Register] [Received: 12/08/2022] [Accepted: 02/20/2023] [Indexed: 02/27/2023] Open
Abstract
Animals run robustly in diverse terrain. This locomotion robustness is puzzling because axon conduction velocity is limited to a few tens of meters per second. If reflex loops deliver sensory information with significant delays, one would expect a destabilizing effect on sensorimotor control. Hence, an alternative explanation describes a hierarchical structure of low-level adaptive mechanics and high-level sensorimotor control to help mitigate the effects of transmission delays. Motivated by the concept of an adaptive mechanism triggering an immediate response, we developed a tunable physical damper system. Our mechanism combines a tendon with adjustable slackness connected to a physical damper. The slack damper allows adjustment of damping force, onset timing, effective stroke, and energy dissipation. We characterize the slack damper mechanism mounted to a legged robot controlled in open-loop mode. The robot hops vertically and planarly over varying terrains and perturbations. During forward hopping, slack-based damping improves faster perturbation recovery (up to 170%) at higher energetic cost (27%). The tunable slack mechanism auto-engages the damper during perturbations, leading to a perturbation-trigger damping, improving robustness at a minimum energetic cost. With the results from the slack damper mechanism, we propose a new functional interpretation of animals' redundant muscle tendons as tunable dampers.
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Affiliation(s)
- An Mo
- Dynamic Locomotion Group, Max Planck Institute for Intelligent Systems, 70569, Stuttgart, Germany.
| | - Fabio Izzi
- grid.419534.e0000 0001 1015 6533Dynamic Locomotion Group, Max Planck Institute for Intelligent Systems, 70569 Stuttgart, Germany ,grid.10392.390000 0001 2190 1447Hertie Institute for Clinical Brain Research and Center for Integrative Neuroscience, University of Tübingen, 72076 Tübingen, Germany
| | - Emre Cemal Gönen
- grid.419534.e0000 0001 1015 6533Dynamic Locomotion Group, Max Planck Institute for Intelligent Systems, 70569 Stuttgart, Germany
| | - Daniel Haeufle
- grid.10392.390000 0001 2190 1447Hertie Institute for Clinical Brain Research and Center for Integrative Neuroscience, University of Tübingen, 72076 Tübingen, Germany ,grid.5719.a0000 0004 1936 9713Institute for Modelling and Simulation of Biomechanical Systems, Computational Biophysics and Biorobotics, University of Stuttgart, 70569 Stuttgart, Germany
| | - Alexander Badri-Spröwitz
- grid.419534.e0000 0001 1015 6533Dynamic Locomotion Group, Max Planck Institute for Intelligent Systems, 70569 Stuttgart, Germany ,grid.5596.f0000 0001 0668 7884Department of Mechanical Engineering, KU Leuven, 3001 Leuven, Belgium
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8
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Fukuhara A, Gunji M, Masuda Y. Comparative anatomy of quadruped robots and animals: a review. Adv Robot 2022. [DOI: 10.1080/01691864.2022.2086018] [Citation(s) in RCA: 0] [Impact Index Per Article: 0] [Reference Citation Analysis] [Track Full Text] [Journal Information] [Subscribe] [Scholar Register] [Indexed: 11/01/2022]
Affiliation(s)
- Akira Fukuhara
- Research Institute of Electrical Communication, Tohoku University, Sendai, Japan
| | - Megu Gunji
- Department of Life Sciences, Faculty of Life Sciences, Toyo University, Gunma, Japan
| | - Yoichi Masuda
- Department of Mechanical Engineering, Osaka University, Osaka, Japan
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9
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Schwaner MJ, Nishikawa KC, Daley MA. Kinematic trajectories in response to speed perturbations in walking suggest modular task-level control of leg angle and length. Integr Comp Biol 2022; 62:icac057. [PMID: 35612979 DOI: 10.1093/icb/icac057] [Citation(s) in RCA: 4] [Impact Index Per Article: 2.0] [Reference Citation Analysis] [Abstract] [Key Words] [Track Full Text] [Journal Information] [Subscribe] [Scholar Register] [Indexed: 11/13/2022] Open
Abstract
Navigating complex terrains requires dynamic interactions between the substrate, musculoskeletal and sensorimotor systems. Current perturbation studies have mostly used visible terrain height perturbations, which do not allow us to distinguish among the neuromechanical contributions of feedforward control, feedback-mediated and mechanical perturbation responses. Here, we use treadmill belt speed perturbations to induce a targeted perturbation to foot speed only, and without terrain-induced changes in joint posture and leg loading at stance onset. Based on previous studies suggesting a proximo-distal gradient in neuromechanical control, we hypothesized that distal joints would exhibit larger changes in joint kinematics, compared to proximal joints. Additionally, we expected birds to use feedforward strategies to increase the intrinsic stability of gait. To test these hypotheses, seven adult guinea fowl were video recorded while walking on a motorized treadmill, during both steady and perturbed trials. Perturbations consisted of repeated exposures to a deceleration and acceleration of the treadmill belt speed. Surprisingly, we found that joint angular trajectories and center of mass fluctuations remain very similar, despite substantial perturbation of foot velocity by the treadmill belt. Hip joint angular trajectories exhibit the largest changes, with the birds adopting a slightly more flexed position across all perturbed strides. Additionally, we observed increased stride duration across all strides, consistent with feedforward changes in the control strategy. The speed perturbations mainly influenced the timing of stance and swing, with the largest kinematic changes in the strides directly following a deceleration. Our findings do not support the general hypothesis of a proximo-distal gradient in joint control, as distal joint kinematics remain largely unchanged. Instead, we find that leg angular trajectory and the timing of stance and swing are most sensitive to this specific perturbation, and leg length actuation remains largely unchanged. Our results are consistent with modular task-level control of leg length and leg angle actuation, with different neuromechanical control and perturbation sensitivity in each actuation mode. Distal joints appear to be sensitive to changes in vertical loading but not foot fore-aft velocity. Future directions should include in vivo studies of muscle activation and force-length dynamics to provide more direct evidence of the sensorimotor control strategies for stability in response to belt speed perturbations.
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Affiliation(s)
- M J Schwaner
- Department of Ecology and Evolutionary Biology, University of California, Irvine, CA 92697
| | - K C Nishikawa
- Center for Integrative Movement Sciences, University of California, Irvine, CA 92697
- Department of Biology, Northern Arizona University, Flagstaff, AZ 86011
| | - M A Daley
- Department of Ecology and Evolutionary Biology, University of California, Irvine, CA 92697
- Center for Integrative Movement Sciences, University of California, Irvine, CA 92697
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Abstract
Recapitulating avian locomotion opens the door for simple and economical control of legged robots without sensory feedback systems.
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Affiliation(s)
- Jonas Rubenson
- Biomechanics Laboratory, Department of Kinesiology, Pennsylvania State University, University Park, PA, USA.,Integrative and Biomedical Physiology Program, Huck Institutes of the Life Sciences, Pennsylvania State University, University Park, PA, USA
| | - Gregory S Sawicki
- School of Mechanical Engineering, Georgia Institute of Technology, Atlanta, GA, USA.,School of Biological Sciences, Georgia Institute of Technology, Atlanta, GA, USA.,Institute for Robotics and Intelligent Machines, Georgia Institute of Technology, Atlanta, GA, USA
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