TY - GEN
T1 - Towards an Untethered Knit Fabric Soft Continuum Robotic Module with Embedded Fabric Sensing
AU - Nguyen, Pham H.
AU - Qiao, Zhi
AU - Seidel, Sam
AU - Amatya, Sunny
AU - Mohd, Imran I.B.
AU - Zhang, Wenlong
N1 - Funding Information:
This work was supported in part by the National Science Foundation under Grant CMMI-1800940.
Publisher Copyright:
© 2020 IEEE.
PY - 2020/5
Y1 - 2020/5
N2 - In this paper, we present the design and testing of a continuum, lightweight, multi-degree of freedom (DOF) soft robotic module made of high-stretch knit fabric. A set of design criteria, inspired by muscular hydrostats found in elephant trunks, is presented in order to create a highly articulated and robust soft robotic module. The soft continuum robotic module can vertically extend and twist along its central axis, as well as bend in 3D space. The material properties of the knit fabrics are characterized. The bending articulation and payload capabilities of the module are investigated. This work also demonstrates the embedded integration of a thin, flexible, and conductive fabric stretch sensor with the module to provide pose information for motion tracking. An on-board electropnuematic system is also developed. This system allows for the future creation of safe human-robot interfaces that are multi-functional integration of multiple soft robotic modular units that are deployable for various complex tasks.
AB - In this paper, we present the design and testing of a continuum, lightweight, multi-degree of freedom (DOF) soft robotic module made of high-stretch knit fabric. A set of design criteria, inspired by muscular hydrostats found in elephant trunks, is presented in order to create a highly articulated and robust soft robotic module. The soft continuum robotic module can vertically extend and twist along its central axis, as well as bend in 3D space. The material properties of the knit fabrics are characterized. The bending articulation and payload capabilities of the module are investigated. This work also demonstrates the embedded integration of a thin, flexible, and conductive fabric stretch sensor with the module to provide pose information for motion tracking. An on-board electropnuematic system is also developed. This system allows for the future creation of safe human-robot interfaces that are multi-functional integration of multiple soft robotic modular units that are deployable for various complex tasks.
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U2 - 10.1109/RoboSoft48309.2020.9116025
DO - 10.1109/RoboSoft48309.2020.9116025
M3 - Conference contribution
AN - SCOPUS:85088131896
T3 - 2020 3rd IEEE International Conference on Soft Robotics, RoboSoft 2020
SP - 615
EP - 620
BT - 2020 3rd IEEE International Conference on Soft Robotics, RoboSoft 2020
PB - Institute of Electrical and Electronics Engineers Inc.
T2 - 3rd IEEE International Conference on Soft Robotics, RoboSoft 2020
Y2 - 15 May 2020 through 15 July 2020
ER -