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Yang J, Kim D, Yoon J, Kim J, Yun D. Ring-pull Type Soft Wearable Robotic Glove for Hand Strength Assistance. IEEE Robot Autom Lett 2022. [DOI: 10.1109/lra.2022.3193634] [Citation(s) in RCA: 0] [Impact Index Per Article: 0] [Reference Citation Analysis] [Track Full Text] [Journal Information] [Subscribe] [Scholar Register] [Indexed: 11/10/2022]
Affiliation(s)
- Junmo Yang
- Department of Robotics Engineering, DGIST, Daegu, Republic of Korea
| | - Donghyun Kim
- Department of Robotics Engineering, DGIST, Daegu, Republic of Korea
| | - Jingon Yoon
- Department of Robotics Engineering, DGIST, Daegu, Republic of Korea
| | - Jisu Kim
- Department of Robotics Engineering, DGIST, Daegu, Republic of Korea
| | - Dongwon Yun
- Department of Robotics Engineering, DGIST, Daegu, Republic of Korea
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Chen X, Zhang X, Huang Y, Cao L, Liu J. A review of soft manipulator research, applications, and opportunities. J FIELD ROBOT 2021. [DOI: 10.1002/rob.22051] [Citation(s) in RCA: 5] [Impact Index Per Article: 1.7] [Reference Citation Analysis] [Track Full Text] [Journal Information] [Subscribe] [Scholar Register] [Indexed: 12/21/2022]
Affiliation(s)
- Xiaoqian Chen
- National Innovation Institute of Defense Technology Academy of Military Sciences Beijing China
| | - Xiang Zhang
- National Innovation Institute of Defense Technology Academy of Military Sciences Beijing China
| | - Yiyong Huang
- National Innovation Institute of Defense Technology Academy of Military Sciences Beijing China
| | - Lu Cao
- National Innovation Institute of Defense Technology Academy of Military Sciences Beijing China
| | - Jinguo Liu
- Shenyang Institute of Automation Chinese Academy of Sciences Shenyang China
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Zou J, Feng M, Ding N, Yan P, Xu H, Yang D, Fang NX, Gu G, Zhu X. Muscle-fiber array inspired, multiple-mode, pneumatic artificial muscles through planar design and one-step rolling fabrication. Natl Sci Rev 2021; 8:nwab048. [PMID: 34858608 PMCID: PMC8566179 DOI: 10.1093/nsr/nwab048] [Citation(s) in RCA: 6] [Impact Index Per Article: 2.0] [Reference Citation Analysis] [Abstract] [Key Words] [Grants] [Track Full Text] [Download PDF] [Figures] [Journal Information] [Subscribe] [Scholar Register] [Received: 11/20/2020] [Revised: 03/11/2021] [Accepted: 03/12/2021] [Indexed: 11/14/2022] Open
Abstract
Advances in development of artificial muscles have enabled creation of soft robots with biological dexterity and self-adaption in unstructured environments; however, production of scalable artificial muscles with multiple-mode actuations remains elusive. Inspired by muscle-fiber arrays in muscular hydrostats, we present a class of versatile artificial muscles called MAIPAMs (muscle-fiber array inspired pneumatic artificial muscles), capable of multiple-mode actuations (such as parallel elongation-bending-spiraling actuations, 10 parallel bending actuations and cascaded elongation-bending-spiraling actuations). Our MAIPAMs consist of active 3D elastomer-balloon arrays reinforced by a passive elastomer membrane, achieved through a planar design and one-step rolling fabrication approach. We introduce prototypical designs for the MAIPAMs and demonstrate their muscle-mimic structures and versatility, as well as their scalable ability to integrate flexible but non-stretchable layers for contraction and twisting actuation modes and compliant electrodes for self-sensing. We further demonstrate that this class of artificial muscles shows potential for versatile robotic applications, such as carrying a camera for recording videos, gripping or manipulating objects, and climbing a pipe-line.
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Affiliation(s)
- Jiang Zou
- State Key Laboratory of Mechanical System and Vibration, Shanghai Jiao Tong University, Shanghai 200240, China
- Robotics Institute, School of Mechanical Engineering, Shanghai Jiao Tong University, Shanghai 200240, China
| | - Miao Feng
- State Key Laboratory of Mechanical System and Vibration, Shanghai Jiao Tong University, Shanghai 200240, China
- Robotics Institute, School of Mechanical Engineering, Shanghai Jiao Tong University, Shanghai 200240, China
| | - Ningyuan Ding
- State Key Laboratory of Mechanical System and Vibration, Shanghai Jiao Tong University, Shanghai 200240, China
- Robotics Institute, School of Mechanical Engineering, Shanghai Jiao Tong University, Shanghai 200240, China
| | - Peinan Yan
- State Key Laboratory of Mechanical System and Vibration, Shanghai Jiao Tong University, Shanghai 200240, China
- Robotics Institute, School of Mechanical Engineering, Shanghai Jiao Tong University, Shanghai 200240, China
| | - Haipeng Xu
- State Key Laboratory of Mechanical System and Vibration, Shanghai Jiao Tong University, Shanghai 200240, China
- Robotics Institute, School of Mechanical Engineering, Shanghai Jiao Tong University, Shanghai 200240, China
| | - Dezhi Yang
- State Key Laboratory of Mechanical System and Vibration, Shanghai Jiao Tong University, Shanghai 200240, China
- Robotics Institute, School of Mechanical Engineering, Shanghai Jiao Tong University, Shanghai 200240, China
| | - Nicholas X Fang
- Department of Mechanical Engineering, Massachusetts Institute of Technology, Cambridge, MA 02139, USA
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Wireless Manipulation Mechanism and Analysis for Actively Assistive Pinch Movements. SENSORS 2021; 21:s21186216. [PMID: 34577427 PMCID: PMC8472932 DOI: 10.3390/s21186216] [Citation(s) in RCA: 1] [Impact Index Per Article: 0.3] [Reference Citation Analysis] [Abstract] [Key Words] [Track Full Text] [Download PDF] [Figures] [Subscribe] [Scholar Register] [Received: 08/27/2021] [Revised: 09/10/2021] [Accepted: 09/13/2021] [Indexed: 11/26/2022]
Abstract
Pinching motions are important for holding and retaining objects with precision. Therefore, training exercises for the thumb and index finger are extremely important in the field of hand rehabilitation. Considering the need for training convenience, we developed a device and a driving system to assist pinching motions actively via a lightweight, simple, and wireless mechanism driven by the magnetic forces and torques generated by magnets attached to the tip of these two fingers. This device provides accurate pinching motions through the linking structures connecting the two magnets. The fabricated device has minimal mechanical elements with an ultralightweight of 57.2 g. The magnetic field, the intensity of which is based on the time variant, generates a pinching motion between the thumb and index finger, thus rendering it possible to achieve repetitive training. To verify the generation of an active pinching motion, we fabricated a finger model using a 3D printer and a rubber sheet and observed the active motions generated by the newly developed device. We also verified the performance of the proposed mechanism and driving method via various experiments and magnetic simulations. The proposed mechanism represents an important breakthrough for patients requiring hand rehabilitation and wearable assistive motion devices.
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Della Santina C, Katzschmann RK, Bicchi A, Rus D. Editorial: Soft Robotic Modeling and Control: Bringing Together Articulated Soft Robots and Soft-Bodied Robots. Int J Rob Res 2021. [DOI: 10.1177/0278364921998088] [Citation(s) in RCA: 0] [Impact Index Per Article: 0] [Reference Citation Analysis] [Track Full Text] [Journal Information] [Subscribe] [Scholar Register] [Indexed: 11/17/2022]
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