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Zhang Z, Fan W, Long Y, Dai J, Luo J, Tang S, Lu Q, Wang X, Wang H, Chen G. Hybrid-Driven Origami Gripper with Variable Stiffness and Finger Length. CYBORG AND BIONIC SYSTEMS 2024; 5:0103. [PMID: 38617112 PMCID: PMC11014077 DOI: 10.34133/cbsystems.0103] [Citation(s) in RCA: 0] [Impact Index Per Article: 0] [Reference Citation Analysis] [Abstract] [Grants] [Track Full Text] [Figures] [Journal Information] [Subscribe] [Scholar Register] [Received: 11/23/2023] [Accepted: 02/07/2024] [Indexed: 04/16/2024] Open
Abstract
Soft grippers due to their highly compliant material and self-adaptive structures attract more attention to safe and versatile grasping tasks compared to traditional rigid grippers. However, those flexible characteristics limit the strength and the manipulation capacity of soft grippers. In this paper, we introduce a hybrid-driven gripper design utilizing origami finger structures, to offer adjustable finger stiffness and variable grasping range. This gripper is actuated via pneumatic and cables, which allows the origami structure to be controlled precisely for contraction and extension, thus achieving different finger lengths and stiffness by adjusting the cable lengths and the input pressure. A kinematic model of the origami finger is further developed, enabling precise control of its bending angle for effective grasping of diverse objects and facilitating in-hand manipulation. Our proposed design method enriches the field of soft grippers, offering a simple yet effective approach to achieve safe, powerful, and highly adaptive grasping and in-hand manipulation capabilities.
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Affiliation(s)
- Zhuang Zhang
- State Key Laboratory of Mechanical System and Vibration, and Shanghai Key Laboratory of Digital Manufacture for Thin-Walled Structures,
Shanghai Jiao Tong University, Shanghai, 200240, China
- School of Engineering,
Westlake University, Hangzhou, Zhejiang, 310030, China
| | - Weicheng Fan
- State Key Laboratory of Mechanical System and Vibration, and Shanghai Key Laboratory of Digital Manufacture for Thin-Walled Structures,
Shanghai Jiao Tong University, Shanghai, 200240, China
| | - Yongzhou Long
- State Key Laboratory of Mechanical System and Vibration, and Shanghai Key Laboratory of Digital Manufacture for Thin-Walled Structures,
Shanghai Jiao Tong University, Shanghai, 200240, China
| | - Jiabei Dai
- State Key Laboratory of Mechanical System and Vibration, and Shanghai Key Laboratory of Digital Manufacture for Thin-Walled Structures,
Shanghai Jiao Tong University, Shanghai, 200240, China
| | - Junjie Luo
- State Key Laboratory of Mechanical System and Vibration, and Shanghai Key Laboratory of Digital Manufacture for Thin-Walled Structures,
Shanghai Jiao Tong University, Shanghai, 200240, China
| | - Shujie Tang
- State Key Laboratory of Mechanical System and Vibration, and Shanghai Key Laboratory of Digital Manufacture for Thin-Walled Structures,
Shanghai Jiao Tong University, Shanghai, 200240, China
| | - Qiujie Lu
- Academy for Engineering and Technology,
Fudan University, 200433, Shanghai, China
- Reds Lab, Dyson School of Design Engineering,
Imperial College London, London, SW7 2DB, U.K.
| | - Xinran Wang
- Reds Lab, Dyson School of Design Engineering,
Imperial College London, London, SW7 2DB, U.K.
| | - Hao Wang
- State Key Laboratory of Mechanical System and Vibration, and Shanghai Key Laboratory of Digital Manufacture for Thin-Walled Structures,
Shanghai Jiao Tong University, Shanghai, 200240, China
| | - Genliang Chen
- State Key Laboratory of Mechanical System and Vibration, and Shanghai Key Laboratory of Digital Manufacture for Thin-Walled Structures,
Shanghai Jiao Tong University, Shanghai, 200240, China
- META Robotics Institute,
Shanghai Jiao Tong University, Shanghai, 200240, China
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Wang L, Gan C, Sun H, Feng L. Magnetic nanoparticle swarm with upstream motility and peritumor blood vessel crossing ability. NANOSCALE 2023; 15:14227-14237. [PMID: 37599587 DOI: 10.1039/d3nr02610h] [Citation(s) in RCA: 0] [Impact Index Per Article: 0] [Reference Citation Analysis] [Abstract] [MESH Headings] [Track Full Text] [Subscribe] [Scholar Register] [Indexed: 08/22/2023]
Abstract
Micro-nano-robots show great potential and value for applications in targeted drug delivery; however, very few current studies have enabled micro-nano-robots to move against blood flow, and in addition, how micro-nano-robots can penetrate endothelial cells and enter tissues via vascular permeation remains unclear. Inspired by the bionics of dynamic aggregation in wild herring schools and transvascular permeation of leukocytes, we propose a novel drug delivery strategy where thousands of magnetic nanoparticles (MNPs) can be assembled into swarms under the guidance of a specially designed electromagnetic field. The vortex-like swarms of magnetic nanoparticles exhibit excellent stability, allowing them to withstand the impact of high-speed flow and move upstream along the vessel wall, stopping at the target location. When the vortex-like swarms encounter a tumor periphery without a continuous vessel wall, their rheological properties actively adhere them to the edges of the vascular endothelial gap, using their deformability to crawl through narrow intercellular gaps, enabling large-scale targeted drug delivery. This cluster of miniature nanorobots can be reshaped and reconfigured to perform a variety of tasks according to the environmental demands of the circulatory system, providing new solutions for a variety of biomedical field applications.
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Affiliation(s)
- Luyao Wang
- School of Mechanical Engineering and Automation, Beihang University, Beijing 100191, China.
| | - Chunyuan Gan
- School of Mechanical Engineering and Automation, Beihang University, Beijing 100191, China.
| | - Hongyan Sun
- School of Mechanical Engineering and Automation, Beihang University, Beijing 100191, China.
| | - Lin Feng
- School of Mechanical Engineering and Automation, Beihang University, Beijing 100191, China.
- Beijing Advanced Innovation Center for Biomedical Engineering, Beihang University, Beijing 100191, China
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Lindenroth L, Merlin J, Bano S, G. Manjaly J, Mehta N, Stoyanov D. Intrinsic force sensing for motion estimation in a parallel, fluidic soft robot for endoluminal interventions. IEEE Robot Autom Lett 2022. [DOI: 10.1109/lra.2022.3193627] [Citation(s) in RCA: 0] [Impact Index Per Article: 0] [Reference Citation Analysis] [Track Full Text] [Journal Information] [Subscribe] [Scholar Register] [Indexed: 11/09/2022]
Affiliation(s)
- Lukas Lindenroth
- Wellcome/EPSRC Centre for Interventional and Surgical Sciences (WEISS), University College London, 43-45 Foley St., Fitzrovia, UK
| | - Jeref Merlin
- Wellcome/EPSRC Centre for Interventional and Surgical Sciences (WEISS), University College London, 43-45 Foley St., Fitzrovia, UK
| | - Sophia Bano
- Wellcome/EPSRC Centre for Interventional and Surgical Sciences (WEISS), University College London, 43-45 Foley St., Fitzrovia, UK
| | - Joseph G. Manjaly
- University College London Hospitals Biomedical Research Centre, National Institute for Health Research, UK
| | - Nishchay Mehta
- University College London Hospitals Biomedical Research Centre, National Institute for Health Research, UK
| | - Danail Stoyanov
- Wellcome/EPSRC Centre for Interventional and Surgical Sciences (WEISS), University College London, 43-45 Foley St., Fitzrovia, UK
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