Journal ArticleDOI
A Novel Layer Jamming Mechanism With Tunable Stiffness Capability for Minimally Invasive Surgery
TLDR
The layer jamming mechanism exploits the friction present between layers of thin material, which can be controlled by a confining pressure, and is well suited for various minimally invasive surgery applications, where stiffness change is required.Abstract:
This paper presents a novel “layer jamming” mechanism that can achieve variable stiffness. The layer jamming mechanism exploits the friction present between layers of thin material, which can be controlled by a confining pressure. Due to the mechanism's hollow geometry, compact size, and light weight, it is well suited for various minimally invasive surgery applications, where stiffness change is required. This paper describes the concept, the mathematical model, and a tubular snake-like manipulator prototype. Various characteristics of layer jamming, such as stiffness and yield strength, are studied both theoretically and experimentally.read more
Citations
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Journal ArticleDOI
Soft Robotic Grippers.
TL;DR: A critical overview of soft robotic grippers is presented, covering different material sets, physical principles, and device architectures, and improved materials, processing methods, and sensing play an important role in future research.
Journal ArticleDOI
Fluid-driven origami-inspired artificial muscles
Shuguang Li,Shuguang Li,Shuguang Li,Daniel M. Vogt,Daniel M. Vogt,Daniela Rus,Robert J. Wood,Robert J. Wood +7 more
TL;DR: This architecture for fluidic artificial muscles with unprecedented performance-to-cost ratio is presented and opens the door to rapid design and low-cost fabrication of actuation systems for numerous applications at multiple scales, ranging from miniature medical devices to wearable robotic exoskeletons to large deployable structures for space exploration.
Journal ArticleDOI
Stiffening in Soft Robotics: A Review of the State of the Art
TL;DR: The core challenge of soft robotics research is, in fact, the variability and controllability of such deformability and compliance.
Journal ArticleDOI
Soft Robotics Technologies to Address Shortcomings in Today's Minimally Invasive Surgery: The STIFF-FLOP Approach
CianchettiMatteo,RanzaniTommaso,GerboniGiada,NanayakkaraThrishantha,AlthoeferKaspar,DasguptaProkar,MenciassiArianna +6 more
TL;DR: In this paper, the authors proposed a new concept of soft and stiffness-controllable instruments for single-site or natural orifice transluminal surgery using the octopus as a model.
Journal ArticleDOI
Fast-Response, Stiffness-Tunable Soft Actuator by Hybrid Multimaterial 3D Printing
Yuan-Fang Zhang,Ningbin Zhang,Hardik Hingorani,Ningyuan Ding,Dong Wang,Chao Yuan,Biao Zhang,Guoying Gu,Qi Ge +8 more
TL;DR: In this paper, a shape memory polymer layer was added to the actuator body to enhance its stiffness by up to 120 times without sacrificing flexibility and adaptivity, and the printed Joule-heating circuit and fluidic cooling microchannel enable fast heating and cooling rates and allow the FRST actuator to complete a softening-stiffening cycle within 32 s.
References
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Journal ArticleDOI
Universal robotic gripper based on the jamming of granular material
Eric Brown,Nicholas Rodenberg,John R. Amend,Annan Michael Mozeika,E. Steltz,Mitchell R. Zakin,Hod Lipson,Heinrich M. Jaeger +7 more
TL;DR: It is shown that volume changes of less than 0.5% suffice to grip objects reliably and hold them with forces exceeding many times their weight, and opens up new possibilities for the design of simple, yet highly adaptive systems that excel at fast gripping of complex objects.
Journal ArticleDOI
Force modeling for needle insertion into soft tissue
TL;DR: A force model for needle insertion and experimental procedures for acquiring data from ex vivo tissue to populate that model are presented and the effects of needle diameter and tip type on insertion force are characterized.
Proceedings ArticleDOI
Design and Analysis of a Robust, Low-cost, Highly Articulated manipulator enabled by jamming of granular media
Nadia G. Cheng,Maxim Lobovsky,Steven Keating,Adam M. Setapen,Katy Ilonka Gero,Anette Hosoi,Karl Iagnemma +6 more
TL;DR: A manipulator is proposed that is robust, high-force, low-cost, and highly articulated without employing traditional actuators mounted at the manipulator joints, coupled with off-board spooler motors and tension cables to achieve complex manipulator configurations.
Journal ArticleDOI
Design of a magnetorheological robot gripper for handling of delicate food products with varying shapes
TL;DR: In this article, a novel robot gripper that utilizes the effects of a magnetorheological (MR) fluid is described and evaluated, and data regarding the forces exerted on products during gripping as well as data on maximum payloads and graspable product shapes.
Journal ArticleDOI
A review of medical robotics for minimally invasive soft tissue surgery
TL;DR: An overview of recent trends and developments in medical robotics for minimally invasive soft tissue surgery, with a view to highlight some of the issues posed and solutions proposed in the literature.