Kinematics and the implementation of an elephant’s trunk manipulator and other continuum style robots. Soft robotic glove for combined assistance and at-home rehabilitation. Polygerinos P, Wang Z, Galloway KC, et al. In IEEE/RSJ international conference on robotics and automation. Design and control of a soft and continuously deformable 2d robotic manipulation system. Marchese AD, Komorowski K, Onal CD, et al. Field trials and testing of the octarm continuum manipulator. McMahan W, Chitrakaran V, Csencsits M, et al. Applying a flexible microactuator to robotic mechanisms. Soft robotics: biological inspiration, state of the art, and future research. Autonomous soft robotic fish capable of escape maneuvers using fluidic elastomer actuators. In The handbook of comparative physiology. The applications of the present SRA include tightly coiling around the objects because of its large bending deformation (nearly \(360^)\), grasping multiple objects, and adjusting the grabbing mode in accordance with the shape of objects.įull RJ. The force response and motion of the SRA are determined both experimentally and computationally. Moreover, utilizing parallel control, the SRA demonstrates complicated three-dimensional motions. This SRA displays specified movements via controlling pressure and selecting channels. The SRA is fabricated with elastomeric materials, which consists of four series of integrated pneumatic chambers that play similar roles as the muscles in the octopus arm can achieve large bending in various directions with variable stiffness. In this study, we design a soft robotic arm (SRA) with multiple degrees of freedom inspired by the flexible structures and the unique motion mechanism of the octopus arm. Developing robotic manipulators capable of performing effective physical interaction tasks is a challenging topic.
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