Proceedings ArticleDOI
Design and development of soft actuator for surgical application
Sandesh Arunrao Ghate,Guntis Kulikovskis,Vivek Shanmuganathan +2 more
- pp 132-137
TLDR
The aim is to design and develop a bendable soft actuator prototype to overcome the limitations of Surgical Lighting Systems (SLS), and characterize behavior of each chamber of actuator.Abstract:
In this paper, the aim is to design and develop a bendable soft actuator prototype to overcome the limitations of Surgical Lighting Systems (SLS). Pneumatic bending actuator made of silicone rubber undergoes the desired deformation when each chamber is pressurized. Surgical luminaires are used for illumination of wounds during surgery. For optimal illumination surgical luminaries need to change their orientation several times during surgery. Soft actuator because of flexibility provides advantage to overcome the mechanical singularity faced by existing surgical lighting system. Mathematical model based on geometric deformation has been presented. A fourth degree polynomial approximation has been used for characterize behavior of each chamber of actuator.read more
Citations
More filters
Journal ArticleDOI
Development of the extension type pneumatic soft actuator with built-in displacement sensor
TL;DR: The displacement sensing of the proposed actuator has good accuracy for use in medical robots and other robots working with humans.
Journal ArticleDOI
A programmable and self-adaptive dynamic pressure delivery and feedback system for efficient intermittent pneumatic compression therapy
TL;DR: This study integrated theoretical and experimental approaches to a novel solution for customized dynamic pressure therapy that serves as a foundation for the design and innovation of advanced programmable units for efficient compression treatment in various applications in healthcare, medicine, and rehabilitation.
Journal ArticleDOI
Development of a Soft Pneumatic Actuator System Based on Flexible Force Sensor for Lower Limb Compression Therapy
Shumi Zhao,Chongyang Ye,Lingxiao Jing,Zidan Gong,Jianxun Liu,Jinchao Chen,Chi Chiu Chan,Shuangchen Ruan +7 more
TL;DR: Results revealed that the sensors-based SPA system could generate rhythmic (intermittent) bio-mechanical force, which could be transformed by FFSA and visualized in a morphological interface pressure mapping from quantitative and qualitative perspectives.
Proceedings ArticleDOI
Development of Hydraulically-driven Soft Hand for Handling Heavy Vegetables and its Experimental Evaluation
TL;DR: In this article , a hydraulically-driven soft robotic hand for handling heavy vegetables in a vegetable factory was developed and reported its experimental validations, including basic control performance evaluation and grasping experiments.
References
More filters
Journal ArticleDOI
Soft robotics: a bioinspired evolution in robotics.
TL;DR: Emerging soft-bodied robotic systems are reviewed to endow robots with new, bioinspired capabilities that permit adaptive, flexible interactions with unpredictable environments and to reduce the mechanical and algorithmic complexity involved in robot design.
Journal ArticleDOI
Soft robotics: Biological inspiration, state of the art, and future research
TL;DR: In this article, the authors discuss the capabilities of soft robots, describe examples from nature that provide biological inspiration, surveys the state of the art and outlines existing challenges in soft robot design, modelling, fabrication and control.
Journal ArticleDOI
Modeling of Soft Fiber-Reinforced Bending Actuators
Panagiotis Polygerinos,Zheng Wang,Johannes T. B. Overvelde,Kevin C. Galloway,Robert J. Wood,Katia Bertoldi,Conor J. Walsh +6 more
TL;DR: 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.
Journal ArticleDOI
A Recipe for Soft Fluidic Elastomer Robots
TL;DR: Three viable actuator morphologies composed entirely from soft silicone rubber are explored, and these morphologies are differentiated by their internal channel structure, namely, ribbed, cylindrical, and pleated.
Proceedings ArticleDOI
Mechanically programmable bend radius for fiber-reinforced soft actuators
TL;DR: This paper presents the design and fabrication of a robust, fiber-reinforced soft bending actuator where its bend radius and bending axis can be mechanically-programed with a flexible, selectively-placed conformal covering that acts to mechanically constrain motion.