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Applied Sciences
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Modeling, Simulation and Control of Soft Robotics
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Modeling, Simulation and Control of Soft Robotics

A special issue of Applied Sciences (ISSN 2076-3417). This special issue belongs to the section "Computing and Artificial Intelligence".

Deadline for manuscript submissions: closed (31 October 2020) | Viewed by 2183

Special Issue Editor

Dr. Gang Zheng

E-Mail Website
Guest Editor
Inria Centre, University of Lille, 59650 Villeneuve-d'Ascq, France
Interests: soft robotics; observability normal form of nonlinear systems; nonlinear observer; control of nonlinear system
Special Issues, Collections and Topics in MDPI journals

Special Issue Information

Dear Colleagues,

Soft robot is a young, but active robotic domain, which is a frontier interdisciplinary combined with Robotics, Biomechanics, Computer Science and Control Science. The advantages of soft robots with deformable materials make them more suitable to be used in various applications, especially for medical applications. The advancement of soft robotics highly benefits from the new technical developments of those mentioned disciplines. This special issue invites researchers to contribute their original works to present new advancements on flexible material and its mechanism, new technologies on soft sensors and actuators, new developments on modeling, simulation and control of soft robots, and the related novel applications of soft robot.

Dr. Gang Zheng
Guest Editor

Manuscript Submission Information

Manuscripts should be submitted online at www.mdpi.com by registering and logging in to this website. Once you are registered, click here to go to the submission form. Manuscripts can be submitted until the deadline. All submissions that pass pre-check are peer-reviewed. Accepted papers will be published continuously in the journal (as soon as accepted) and will be listed together on the special issue website. Research articles, review articles as well as short communications are invited. For planned papers, a title and short abstract (about 100 words) can be sent to the Editorial Office for announcement on this website.

Submitted manuscripts should not have been published previously, nor be under consideration for publication elsewhere (except conference proceedings papers). All manuscripts are thoroughly refereed through a single-blind peer-review process. A guide for authors and other relevant information for submission of manuscripts is available on the Instructions for Authors page. Applied Sciences is an international peer-reviewed open access semimonthly journal published by MDPI.

Please visit the Instructions for Authors page before submitting a manuscript. The Article Processing Charge (APC) for publication in this open access journal is 2400 CHF (Swiss Francs). Submitted papers should be well formatted and use good English. Authors may use MDPI's English editing service prior to publication or during author revisions.

Keywords

  • Soft material and the design mechanisms of soft robots
  • Soft sensors
  • Soft actuators
  • Soft wearable robots
  • Bio-inspired soft robots
  • Simulation methods of soft robotics
  • Model-based on control of soft robotics
  • Machine learning and its application in soft robotics
  • Related applications of soft robotics

Published Papers (1 paper)

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Research

15 pages, 4098 KiB  
Article
A Hybrid Soft Actuator Inspired by Grass-Spike: Design Approach, Dynamic Model, and Applications
by Dong-Woon Choi, Cho-Won Lee, Duk-Yeon Lee, Dong-Wook Lee and Han-Ul Yoon
Appl. Sci. 2020, 10(23), 8525; https://doi.org/10.3390/app10238525 - 28 Nov 2020
Cited by 3 | Viewed by 1803
Abstract
This paper presents the bio-mimetic design approach, the dynamic model, and potential applications for a hybrid soft actuator. The proposed hybrid soft actuator consists of two main parts: a cylinder-shaped rigid core and soft silicone spikes wrapped around the core’s surface. The key [...] Read more.
This paper presents the bio-mimetic design approach, the dynamic model, and potential applications for a hybrid soft actuator. The proposed hybrid soft actuator consists of two main parts: a cylinder-shaped rigid core and soft silicone spikes wrapped around the core’s surface. The key idea of the proposed design approach is to mimic the movement of a grass-spike at a functional level by converting the vibration force generated by a small electric motor with a counterweight in the rigid core into a propulsion force produced by the elastic restoration of the spikes. One advantage of this design approach is that the hybrid soft actuator does not need to be tethered by a tube line from an air compressor and is more amenable to fine control. In addition, the hybrid soft actuator can be modularized with a wire and a tubular passage, which in turn work as a linear actuator. The dynamic model of the hybrid soft actuator can be derived by applying Lagrangian mechanics, and unknown system parameters can be identified by the optimization process based on the empirical data. Two applications—an elbow manipulator and a robotic hand grasper—demonstrate the feasibility of the proposed actuator to perform a muscle-tendon action successfully. Full article
(This article belongs to the Special Issue Modeling, Simulation and Control of Soft Robotics)
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