Research

897 KiB

Open AccessArticle

Bioinspired Soft Actuation System Using Shape Memory Alloys

by Matteo Cianchetti, Alessia Licofonte, Maurizio Follador, Francesco Rogai and Cecilia Laschi

Actuators 2014, 3(3), 226-244; https://doi.org/10.3390/act3030226 - 09 Jul 2014

Cited by 73 | Viewed by 13509

Soft robotics requires technologies that are capable of generating forces even though the bodies are composed of very light, flexible and soft elements. A soft actuation mechanism was developed in this work, taking inspiration from the arm of the Octopus vulgaris, specifically [...] Read more.

Soft robotics requires technologies that are capable of generating forces even though the bodies are composed of very light, flexible and soft elements. A soft actuation mechanism was developed in this work, taking inspiration from the arm of the Octopus vulgaris, specifically from the muscular hydrostat which represents its constitutive muscular structure. On the basis of the authors’ previous works on shape memory alloy (SMA) springs used as soft actuators, a specific arrangement of such SMA springs is presented, which is combined with a flexible braided sleeve featuring a conical shape and a motor-driven cable. This robot arm is able to perform tasks in water such as grasping, multi-bending gestures, shortening and elongation along its longitudinal axis. The whole structure of the arm is described in detail and experimental results on workspace, bending and grasping capabilities and generated forces are presented. Moreover, this paper demonstrates that it is possible to realize a self-contained octopus-like robotic arm with no rigid parts, highly adaptable and suitable to be mounted on underwater vehicles. Its softness allows interaction with all types of objects with very low risks of damage and limited safety issues, while at the same time producing relatively high forces when necessary. Full article

(This article belongs to the Special Issue Soft Actuators)

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2091 KiB

Open AccessArticle

Robust Force Control of Series Elastic Actuators

by Andrea Calanca, Luca Capisani and Paolo Fiorini

Actuators 2014, 3(3), 182-204; https://doi.org/10.3390/act3030182 - 09 Jul 2014

Cited by 50 | Viewed by 9868

Abstract

Force-controlled series elastic actuators (SEA) are widely used in novel human-robot interaction (HRI) applications, such as assistive and rehabilitation robotics. These systems are characterized by the presence of the “human in the loop”, so that control response and stability depend on uncertain human [...] Read more.

Force-controlled series elastic actuators (SEA) are widely used in novel human-robot interaction (HRI) applications, such as assistive and rehabilitation robotics. These systems are characterized by the presence of the “human in the loop”, so that control response and stability depend on uncertain human dynamics, including reflexes and voluntary forces. This paper proposes a force control approach that guarantees the stability and robustness of the coupled human-robot system, based on sliding-mode control (SMC), considering the human dynamics as a disturbance to reject. We propose a chattering free solution that employs simple task models to obtain high performance, comparable with second order solutions. Theoretical stability is proven within the sliding mode framework, and predictability is reached by avoiding the reaching phase by design. Furthermore, safety is introduced by a proper design of the sliding surface. The practical feasibility of the approach is shown using an SEA prototype coupled with a human impedance in severe stress tests. To show the quality of the approach, we report a comparison with state-of-the-art second order SMC, passivity-based control and adaptive control solutions. Full article

(This article belongs to the Special Issue Soft Actuators)

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970 KiB

Open AccessArticle

Robust and Accurate Closed-Loop Control of McKibben Artificial Muscle Contraction with a Linear Single Integral Action

by Bertrand Tondu

Actuators 2014, 3(2), 142-161; https://doi.org/10.3390/act3020142 - 17 Jun 2014

Cited by 14 | Viewed by 9195

Abstract

We analyze the possibility of taking advantage of artificial muscle’s own stiffness and damping, and substituting it for a classic proportional-integral-derivative controller (PID) controller an I controller. The advantages are that there would only be one parameter to tune and no need for [...] Read more.

We analyze the possibility of taking advantage of artificial muscle’s own stiffness and damping, and substituting it for a classic proportional-integral-derivative controller (PID) controller an I controller. The advantages are that there would only be one parameter to tune and no need for a dynamic model. A stability analysis is proposed from a simple phenomenological artificial muscle model. Step and sinus-wave tracking responses performed with pneumatic McKibben muscles are reported showing the practical efficiency of the method to combine accuracy and load robustness. In the particular case of the McKibben artificial muscle technology, we suggest that the dynamic performances in stability and load robustness would result from the textile nature of its braided sleeve and its internal friction which do not obey Coulomb’s third law, as verified by preliminary reported original friction experiments. Comparisons are reported between three kinds of braided sleeves made of rayon yarns, plastic, and thin metal wires, whose similar closed-loop dynamic performances are highlighted. It is also experimentally shown that a sleeve braided with thin metal wires can give high accuracy performance, in step as in tracking response. This would be due to a low static friction coefficient combined with a kinetic friction exponentially increasing with speed in accordance with hydrodynamic lubrication theory applied to textile physics. Full article

(This article belongs to the Special Issue Soft Actuators)

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787 KiB

Open AccessArticle

A Mechanical Musculo-Skeletal System for a Human-Shaped Robot Arm

by Koichi Koganezawa

Actuators 2014, 3(2), 124-141; https://doi.org/10.3390/act3020124 - 17 Jun 2014

Cited by 5 | Viewed by 9862

Abstract

This paper presents a mechanical system with a similar configuration to a human musculo-skeletal system for use in anthropomorphic robots or as artificial limbs for disabled persons. First, a mechanical module called ANLES (Actuator with Non-Linear Elasticity System) is introduced. There are two [...] Read more.

This paper presents a mechanical system with a similar configuration to a human musculo-skeletal system for use in anthropomorphic robots or as artificial limbs for disabled persons. First, a mechanical module called ANLES (Actuator with Non-Linear Elasticity System) is introduced. There are two types of ANLES: the linear-type ANLES and rotary-type ANLES. They can be used as a voluntary muscle in a wide-range of musculo-skeletal structures in which at least double actuators work in an antagonistic setup via some elastic elements. Next, an application of the two types of ANLES to a two-degree-of-freedom (DOF) manipulator that has a similar configuration to the human elbow joint is shown. The experimental results of the joint stiffness and joint angle control elucidate that the developed mechanism effectively regulates joint stiffness in the same way as a musculo-skeletal system. Full article

(This article belongs to the Special Issue Soft Actuators)

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10989 KiB

Open AccessArticle

A Novel Variable Stiffness Mechanism Capable of an Infinite Stiffness Range and Unlimited Decoupled Output Motion

by Stefan Groothuis, Raffaella Carloni and Stefano Stramigioli

Actuators 2014, 3(2), 107-123; https://doi.org/10.3390/act3020107 - 03 Jun 2014

Cited by 34 | Viewed by 10448

Abstract

In this paper, a novel variable stiffness mechanism is presented, which is capable of achieving an output stiffness with infinite range and an unlimited output motion, i.e., the mechanism output is completely decoupled from the rotor motion, in the zero stiffness configuration. The [...] Read more.

In this paper, a novel variable stiffness mechanism is presented, which is capable of achieving an output stiffness with infinite range and an unlimited output motion, i.e., the mechanism output is completely decoupled from the rotor motion, in the zero stiffness configuration. The mechanism makes use of leaf springs, which are engaged at different positions by means of two movable supports, to realize the variable output stiffness. The Euler–Bernoulli leaf spring model is derived and validated through experimental data. By shaping the leaf springs, it is shown that the stiffness characteristic of the mechanism can be changed to fulfill different application requirements. Alternative designs can achieve the same behavior with only one leaf spring and one movable support pin. Full article

(This article belongs to the Special Issue Soft Actuators)

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1310 KiB

Open AccessArticle

Soft Pneumatic Actuators for Rehabilitation

by Guido Belforte, Gabriella Eula, Alexandre Ivanov and Silvia Sirolli

Actuators 2014, 3(2), 84-106; https://doi.org/10.3390/act3020084 - 26 May 2014

Cited by 68 | Viewed by 15642

Abstract

Pneumatic artificial muscles are pneumatic devices with practical and various applications as common actuators. They, as human muscles, work in agonistic-antagonistic way, giving a traction force only when supplied by compressed air. The state of the art of soft pneumatic actuators is here [...] Read more.

Pneumatic artificial muscles are pneumatic devices with practical and various applications as common actuators. They, as human muscles, work in agonistic-antagonistic way, giving a traction force only when supplied by compressed air. The state of the art of soft pneumatic actuators is here analyzed: different models of pneumatic muscles are considered and evolution lines are presented. Then, the use of Pneumatic Muscles (PAM) in rehabilitation apparatus is described and the general characteristics required in different applications are considered, analyzing the use of proper soft actuators with various technical properties. Therefore, research activity carried out in the Department of Mechanical and Aerospace Engineering in the field of soft and textile actuators is presented here. In particular, pneumatic textile muscles useful for active suits design are described. These components are made of a tubular structure, with an inner layer of latex coated with a deformable outer fabric sewn along the edge. In order to increase pneumatic muscles forces and contractions Braided Pneumatic Muscles are studied. In this paper, new prototypes are presented, based on a fabric construction and various kinds of geometry. Pressure-force-deformation tests results are carried out and analyzed. These actuators are useful for rehabilitation applications. In order to reproduce the whole upper limb movements, new kind of soft actuators are studied, based on the same principle of planar membranes deformation. As an example, the bellows muscle model and worm muscle model are developed and described. In both cases, wide deformations are expected. Another issue for soft actuators is the pressure therapy. Some textile sleeve prototypes developed for massage therapy on patients suffering of lymph edema are analyzed. Different types of fabric and assembly techniques have been tested. In general, these Pressure Soft Actuators are useful for upper/lower limbs treatments, according to medical requirements. In particular devices useful for arms massage treatments are considered. Finally some applications are considered. Full article

(This article belongs to the Special Issue Soft Actuators)

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942 KiB

Open AccessArticle

Sustainable Multi-Modal Sensing by a Single Sensor Utilizing the Passivity of an Elastic Actuator

by Takashi Takuma, Ken Takamine and Tatsuya Masuda

Actuators 2014, 3(2), 66-83; https://doi.org/10.3390/act3020066 - 12 May 2014

Cited by 2 | Viewed by 7732

Abstract

When a robot equipped with compliant joints driven by elastic actuators contacts an object and its joints are deformed, multi-modal information, including the magnitude and direction of the applied force and the deformation of the joint, is used to enhance the performance of [...] Read more.

When a robot equipped with compliant joints driven by elastic actuators contacts an object and its joints are deformed, multi-modal information, including the magnitude and direction of the applied force and the deformation of the joint, is used to enhance the performance of the robot such as dexterous manipulation. In conventional approaches, some types of sensors used to obtain the multi-modal information are attached to the point of contact where the force is applied and at the joint. However, this approach is not sustainable for daily use in robots, i.e., not durable or robust, because the sensors can undergo damage due to the application of excessive force and wear due to repeated contacts. Further, multiple types of sensors are required to measure such physical values, which add to the complexity of the device system of the robot. In our approach, a single type of sensor is used and it is located at a point distant from the contact point and the joint, and the information is obtained indirectly by the measurement of certain physical parameters that are influenced by the applied force and the joint deformation. In this study, we employ the McKibben pneumatic actuator whose inner pressure changes passively when a force is applied to the actuator. We derive the relationships between information and the pressures of a two-degrees-of-freedom (2-DoF) joint mechanism driven by four pneumatic actuators. Experimental results show that the multi-modal information can be obtained by using the set of pressures measured before and after the force is applied. Further, we apply our principle to obtain the stiffness values of certain contacting objects that can subsequently be categorized by using the aforementioned relationships. Full article

(This article belongs to the Special Issue Soft Actuators)

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31822 KiB

Open AccessArticle

Control of a Heavy-Lift Robotic Manipulator with Pneumatic Artificial Muscles

by Ryan M. Robinson, Curt S. Kothera and Norman M. Wereley

Actuators 2014, 3(2), 41-65; https://doi.org/10.3390/act3020041 - 24 Apr 2014

Cited by 18 | Viewed by 14277

Abstract

Lightweight, compliant actuators are particularly desirable in robotic systems intended for interaction with humans. Pneumatic artificial muscles (PAMs) exhibit these characteristics and are capable of higher specific work than comparably-sized hydraulic actuators and electric motors. The objective of this work is to develop [...] Read more.

Lightweight, compliant actuators are particularly desirable in robotic systems intended for interaction with humans. Pneumatic artificial muscles (PAMs) exhibit these characteristics and are capable of higher specific work than comparably-sized hydraulic actuators and electric motors. The objective of this work is to develop a control algorithm that can smoothly and accurately track the desired motions of a manipulator actuated by pneumatic artificial muscles. The manipulator is intended for lifting humans in nursing assistance or casualty extraction scenarios; hence, the control strategy must be capable of responding to large variations in payload over a large range of motion. The present work first investigates the feasibility of two output feedback controllers (proportional-integral-derivative and fuzzy logic), but due to the limitations of pure output feedback control, a model-based feedforward controller is developed and combined with output feedback to achieve improved closed-loop performance. The model upon which the controller is based incorporates the internal airflow dynamics, the physical parameters of the pneumatic muscles and the manipulator dynamics. Simulations were performed in order to validate the control algorithms, guide controller design and predict optimal gains. Using real-time interface software and hardware, the controllers were implemented and experimentally tested on the manipulator, demonstrating the improved capability. Full article

(This article belongs to the Special Issue Soft Actuators)

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2282 KiB

Open AccessArticle

A Two-Degree of Freedom Variable Stiffness Actuator Based on the MACCEPA Concept

by Maarten Weckx, Glenn Mathijssen, Idris Si Mhand Benali, Raphaël Furnemont, Ronald Van Ham, Dirk Lefeber and Bram Vanderborght

Actuators 2014, 3(2), 20-40; https://doi.org/10.3390/act3020020 - 03 Apr 2014

Cited by 8 | Viewed by 14539

Abstract

The current state-of-the-art of variable stiffness actuators consists mostly of different concepts for single-degree of freedom joints. However, in bio-inspired robotic applications, multiple degrees of freedom variable stiffness actuators are often desired. Currently, this is usually achieved by cascading single-degree of freedom actuators. [...] Read more.

The current state-of-the-art of variable stiffness actuators consists mostly of different concepts for single-degree of freedom joints. However, in bio-inspired robotic applications, multiple degrees of freedom variable stiffness actuators are often desired. Currently, this is usually achieved by cascading single-degree of freedom actuators. The innovation presented in this work is a two-degree of freedom variable stiffness actuator using the mechanically adjustable and controllable equilibrium position actuator (MACCEPA) concept. The presented actuator is not a cascade of two single-degree of freedom actuators, but centralizes the two degrees of freedom in one single joint. Equilibrium position and stiffness of the actuator are, furthermore, independently controllable in both degrees of freedom. The design and experimental validation of the actuator are discussed in this work. The independence of adjusting the equilibrium position and stiffness of the actuator are experimentally validated. The results show that the measured characteristics of the actuator sufficiently match the theoretically calculated ones. Future work includes implementing the presented two-degree of freedom actuator in an application, like a bipedal robot or a robotic arm. Full article

(This article belongs to the Special Issue Soft Actuators)

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