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- Publisher Website: 10.1089/soro.2018.0118
- Scopus: eid_2-s2.0-85079247915
- PMID: 31613702
- WOS: WOS:000490244600001
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Article: Interfacing Soft And Hard: A Spring Reinforced Actuator
Title | Interfacing Soft And Hard: A Spring Reinforced Actuator |
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Authors | |
Keywords | soft material robotics bio-inspired robot fluid-driven actuator continuum robot |
Issue Date | 2020 |
Publisher | Mary Ann Liebert, Inc. Publishers. The Journal's web site is located at http://www.liebertpub.com/overview/soft-robotics/616/ |
Citation | Soft Robotics, 2020, v. 7 n. 1, p. 44-58 How to Cite? |
Abstract | Muscular hydrostats have long been a source of inspiration for soft robotic designs. With their inherent compliance, they excel in unpredictable environments and can gently manipulate objects with ease. However, their performance lacks where high force or a fast-dynamic response is needed. In this study, we propose a novel spring reinforced actuator (SRA) that explores the intermediate state between muscular hydrostats and endoskeletal mechanisms. The result is that we dramatically enhance the robot dynamic performance, which is unprecedented in similar kinds of soft robots, while retaining compliant omnidirectional bending. Analytical modeling of the flexible backbone was built and experimentally validated. This is also the first attempt to perform detailed finite element analysis to investigate the strain–stress behavior of the constraining braided bellow tube. The braided interweaving threads are modeled, in which complex thread-to-thread contacts occur. Experimental evaluation of SRAs was performed for actuation force, stiffness, and dynamic response. We showcase the enhanced actuator's performance in several applications such as locomotion and heavy object manipulation. |
Persistent Identifier | http://hdl.handle.net/10722/273386 |
ISSN | 2023 Impact Factor: 6.4 2023 SCImago Journal Rankings: 2.430 |
ISI Accession Number ID |
DC Field | Value | Language |
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dc.contributor.author | Fu, HC | - |
dc.contributor.author | Ho, JDL | - |
dc.contributor.author | Lee, KH | - |
dc.contributor.author | Hu, YC | - |
dc.contributor.author | Au, SKW | - |
dc.contributor.author | Cho, KJ | - |
dc.contributor.author | Sze, KY | - |
dc.contributor.author | Kwok, KW | - |
dc.date.accessioned | 2019-08-06T09:27:57Z | - |
dc.date.available | 2019-08-06T09:27:57Z | - |
dc.date.issued | 2020 | - |
dc.identifier.citation | Soft Robotics, 2020, v. 7 n. 1, p. 44-58 | - |
dc.identifier.issn | 2169-5172 | - |
dc.identifier.uri | http://hdl.handle.net/10722/273386 | - |
dc.description.abstract | Muscular hydrostats have long been a source of inspiration for soft robotic designs. With their inherent compliance, they excel in unpredictable environments and can gently manipulate objects with ease. However, their performance lacks where high force or a fast-dynamic response is needed. In this study, we propose a novel spring reinforced actuator (SRA) that explores the intermediate state between muscular hydrostats and endoskeletal mechanisms. The result is that we dramatically enhance the robot dynamic performance, which is unprecedented in similar kinds of soft robots, while retaining compliant omnidirectional bending. Analytical modeling of the flexible backbone was built and experimentally validated. This is also the first attempt to perform detailed finite element analysis to investigate the strain–stress behavior of the constraining braided bellow tube. The braided interweaving threads are modeled, in which complex thread-to-thread contacts occur. Experimental evaluation of SRAs was performed for actuation force, stiffness, and dynamic response. We showcase the enhanced actuator's performance in several applications such as locomotion and heavy object manipulation. | - |
dc.language | eng | - |
dc.publisher | Mary Ann Liebert, Inc. Publishers. The Journal's web site is located at http://www.liebertpub.com/overview/soft-robotics/616/ | - |
dc.relation.ispartof | Soft Robotics | - |
dc.rights | Soft Robotics. Copyright © Mary Ann Liebert, Inc. Publishers. | - |
dc.rights | Final publication is available from Mary Ann Liebert, Inc., publishers http://dx.doi.org/[insert DOI] | - |
dc.subject | soft material robotics | - |
dc.subject | bio-inspired robot | - |
dc.subject | fluid-driven actuator | - |
dc.subject | continuum robot | - |
dc.title | Interfacing Soft And Hard: A Spring Reinforced Actuator | - |
dc.type | Article | - |
dc.identifier.email | Lee, KH: brianlkh@HKUCC-COM.hku.hk | - |
dc.identifier.email | Sze, KY: kysze@hku.hk | - |
dc.identifier.email | Kwok, KW: kwokkw@hku.hk | - |
dc.identifier.authority | Sze, KY=rp00171 | - |
dc.identifier.authority | Kwok, KW=rp01924 | - |
dc.description.nature | link_to_subscribed_fulltext | - |
dc.identifier.doi | 10.1089/soro.2018.0118 | - |
dc.identifier.pmid | 31613702 | - |
dc.identifier.scopus | eid_2-s2.0-85079247915 | - |
dc.identifier.hkuros | 300137 | - |
dc.identifier.volume | 7 | - |
dc.identifier.issue | 1 | - |
dc.identifier.spage | 44 | - |
dc.identifier.epage | 58 | - |
dc.identifier.isi | WOS:000490244600001 | - |
dc.publisher.place | United States | - |
dc.identifier.issnl | 2169-5172 | - |