This book, written by two major figures in adaptive control, provides a wealth of material for researchers, practitioners, and students. While some researchers in adaptive control may note the absence of a particular topic, the book‘s scope represents a high-gain instrument. It can be used by designers of control systems to enhance their work through the information on many new theoretical developments, and can be used by mathematical control theory specialists to adapt their research to practical needs. The book is strongly recommended to anyone interested in adaptive control.

Adaptive Control

Soft fluidic actuators consisting of elastomeric matrices with embedded flexible materials are of particular interest to the robotics community because they are affordable and can be easily customized to a given application. However, the significant potential of such actuators is currently limited as their design has typically been based on intuition. In this paper, the principle of operation of these actuators is comprehensively analyzed and described through experimentally validated quasi-static analytical and finite-element method models for bending in free space and force generation when in contact with an object. This study provides a set of systematic design rules to help the robotics community create soft actuators by understanding how these vary their outputs as a function of input pressure for a number of geometrical parameters. Additionally, the proposed analytical model is implemented in a controller demonstrating its ability to convert pressure information to bending angle in real time. Such an understanding of soft multimaterial actuators will allow future design concepts to be rapidly iterated and their performance predicted, thus enabling new and innovative applications that produce more complex motions to be explored.

Modeling of Soft Fiber-Reinforced Bending Actuators

This paper presents preliminary results for the design, development and evaluation of a hand rehabilitation glove fabricated using soft robotic technology. Soft actuators comprised of elastomeric materials with integrated channels that function as pneumatic networks (PneuNets), are designed and geometrically analyzed to produce bending motions that can safely conform with the human finger motion. Bending curvature and force response of these actuators are investigated using geometrical analysis and a finite element model (FEM) prior to fabrication. The fabrication procedure of the chosen actuator is described followed by a series of experiments that mechanically characterize the actuators. The experimental data is compared to results obtained from FEM simulations showing good agreement. Finally, an open-palm glove design and the integration of the actuators to it are described, followed by a qualitative evaluation study.

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Towards a soft pneumatic glove for hand rehabilitation

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Hydraulic Control Systems

Soft robotics is a growing area of research which utilises the compliance and adaptability of soft structures to develop highly adaptive robotics for soft interactions. One area in which soft robotics has the ability to make significant impact is in the development of soft grippers and manipulators. With an increased requirement for automation, robotics systems are required to perform task in unstructured and not well defined environments; conditions which conventional rigid robotics are not best suited. This requires a paradigm shift in the methods and materials used to develop robots such that they can adapt to and work safely in human environments. One solution to this is soft robotics, which enables soft interactions with the surroundings whilst maintaining the ability to apply significant force. This review paper assess the current materials and methods, actuation methods and sensors which are used in the development of soft manipulators. The achievements and shortcomings of recent technology in these key areas are evaluated, and this paper concludes with a discussion on the potential impacts of soft manipulators on industry and society.

/pdf/soft-manipulators-and-grippers-a-review-bacwfn04z0.pdf

Soft manipulators and grippers: A review

In recent years, exploratory research on soft materials and their mechanism has been gaining in popularity. The investigations on soft materials are mostly done for two reasons: (a) to develop an anthropomorphic/prosthetic hand or soft hand with human skin-like material to perform soft manipulations and (b) to develop soft actuators. This paper presented a comprehensive investigation into researches on soft materials for robotic applications. The primary interest of using soft materials is not to leave any marks or damage to objects during the manipulation. The other advantage would be stable grasping due to an area contact. Natural rubber, synthetic rubber, elastomer, polymer composite and nanoparticulated polymer composite are some existing soft materials. Extensive research is required to prepare a high-strength but lighter soft material for robotic soft manipulation. Human skin and its mechanical properties are initially discussed. In addition, the need of soft material for soft manipulations and observations from previous researches over the past few decades, modelling of non-linear hyperelastic/viscoelastic materials and characterization are discussed. Finally, various soft materials including the polymer-matrix composites, available fillers and their advantages, processing methods and nanoparticulated polymer matrix and its significance in robotic application are presented.

A review article: investigations on soft materials for soft robot manipulations

In recent decades, flexible manipulators have been studied by many researchers from robotics, solid mechanics, and control fields. Flexible manipulators have many advantages, including low weight b...

Review of modelling and control of flexible-link manipulators:

In the present study, the performance of silicone rubber-based bellows-structured pneumatic actuator was analyzed in terms of output bending motion and bending force with relation to input pressure. To perform the analysis, the structural parameters of length, diameter, and wall thickness were characterized and tested with two different silicone materials. The simulation analysis revealed that the stiffness of the silicone materials selected for the bellows actuator imposes strong effects on its bending motion and pneumatic input pressure requirement. Furthermore, the characterization of material-S-based bellows actuator having lengths 84, 126, and 168 mm, with a maximum diameter and a wall thickness of 14 and 1.4 mm, respectively, resulted in maximum output bending angles of 142.4°, 137.5°, and 117° at minimum pneumatic input pressures of 85.5, 66.5, and 85.5 kPa, respectively. Hence, the bellows actuator that simulated in a maximum bending angle of 142.4° was fabricated for validation and experimentally resulted in an average bending force of 9 N.

Design, characterization, and manufacturing of circular bellows pneumatic soft actuator

The Third National Health & Morbidity Survey, Malaysia 2006 included nutritional status
assessment of children. This study was to assess inter-and intra-examiner reliability, the technical
error of measurement (TEM) and the validity of instruments for measuring weight, length and waist circumference. A convenience sample of 130 adults working in a selected office setting who
fit the inclusion and exclusion criteria participated in the study. Two public health nurses, trained
to follow a standard protocol, obtained the measurements. Weight was measured using Tanita
digital weighing scale, 318, Japan (0.1 kg) and Seca Beam Scale, Germany (0.01 kg) weighing
machines. Height was measured using Seca Bodymeter 206 Germany (0.1cm) and Stadiometer,
Germany (0.1cm). Waist circumference was measured using Seca circumference tape, 206, Germany
(0.1 cm). By comparison the inter-examiner reliability in descending order would be weight,
height and lastly waist circumference. The intra-examiner reliability in descending order would
be weight and height followed by waist circumference. Height measurement on average using
test instrument reported that it was recording 0.4 cm higher than the reference instrument with
upper limit and lower limit at 2.5 and 1.6 cm respectively. The technical error of measurement and
coefficient of variation of weight and height for both inter-examiner and intra-examiner
measurements are all within acceptable limit (below 5%). The findings of this study supports that
weight, height and waist circumference measured in adults 30 years and above using Tanita
digital weighing scale, 318, Japan (0.1 kg), Seca Bodymeter 206 Germany (0.1cm) and Seca
circumference tape, 206, Germany (0.1 cm) are reliable and valid to be used in a community
survey. Limiting the number of examiners especially for waist circumference measurements would
yield higher degree of reliability and validity.

Reliability, technical error of measurements and validity of instruments for nutritional status assessment of adults in Malaysia

In recent years, many researchers have been focusing on the different novel techniques in designing pneumatic soft actuator that can produce bending motion. This paper presents a novel soft actuator design; a combination of different braided angles of artificial muscle applied on a single chamber soft actuator to produce bending motion. The actuator construction is based on the theory of contraction and extension of artificial muscle. It comprises of fiber-reinforced inside silicone rubber and is capable to create one-sided bending motion. Analysis of nonlinear finite element method is conducted to predict the direction and bending angles of the actuator before a prototype of actuator is fabricated. Based on the results, the developed soft actuator can realize bending motion after standard pressure driving experiment is executed.

Ahmad Athif Mohd Faudzi

Papers

A review article: investigations on soft materials for soft robot manipulations

Review of modelling and control of flexible-link manipulators:

Design, characterization, and manufacturing of circular bellows pneumatic soft actuator

Reliability, technical error of measurements and validity of instruments for nutritional status assessment of adults in Malaysia

Development of bending soft actuator with different braided angles