Article
Robotics
Peter Lloyd, Theodosia Lourdes Thomas, Venkatasubramanian Kalpathy Venkiteswaran, Giovanni Pittiglio, James H. Chandler, Pietro Valdastri, Sarthak Misra
Summary: Soft and flexible magnetic robots made from magnetically-active elastomers have gained attention due to their large deformability and remote actuation capabilities. These properties make them appealing for minimally invasive surgeries, allowing navigation to previously inaccessible areas. However, functionalizing such magnetic devices has been a challenge. To address this, we introduce a proof-of-concept variable stiffness robot controlled by remote magnetic actuation, capable of grasping objects of different sizes. We demonstrate a controlled and reversible high deformation coiling action induced by a transient magnetic field and a nitinol backbone. Experimental demonstrations show a maximum coiling deformation angle of 400 degrees.
IEEE ROBOTICS AND AUTOMATION LETTERS
(2023)
Article
Robotics
Matthew A. Robertson, Ozdemir Can Kara, Jamie Paik
Summary: This article introduces a new modular robotic platform that utilizes origami-inspired construction methods and soft pneumatic actuators to achieve high degree-of-freedom systems. The modules are layer-fabricated with embedded distribution channels and decentralized control architecture for independent control of limb mechanisms and pneumatic relays. This design strategy allows for lightweight, high-strength robotic structures beneficial for various fields, such as wearable robotics.
INTERNATIONAL JOURNAL OF ROBOTICS RESEARCH
(2021)
Article
Multidisciplinary Sciences
Hongri Gu, Marino Moeckli, Claas Ehmke, Minsoo Kim, Matthias Wieland, Simon Moser, Clemens Bechinger, Quentin Boehler, Bradley J. Nelson
Summary: Magnetic continuum soft robots can actively control their tip and navigate in complex in vivo environments. MaSoChains are a type of magnetic soft-robotic chains that can self-fold into large assemblies with stable configurations and programmable shapes and functions. They provide many desirable features and functions that are difficult to achieve with existing surgical tools.
NATURE COMMUNICATIONS
(2023)
Review
Materials Science, Multidisciplinary
Weiqiang Dou, Guoliang Zhong, Jinglin Cao, Zhun Shi, Bowen Peng, Liangzhong Jiang
Summary: Soft robotic manipulators are continuum robots made of soft materials, aiming to adapt to cluttered environments and interact safely with humans, but face challenges in practical applications. Challenges in soft robotic manipulators include materials and structure design, stiffness control, perception, and function control. Recent research advancements in soft robotic manipulators mainly focus on device architecture, actuation, stiffness variation, and sensing technologies.
ADVANCED MATERIALS TECHNOLOGIES
(2021)
Article
Robotics
Cem Tutcu, Bora A. Baydere, Seref K. Talas, Evren Samur
Summary: Soft-continuum robots offer advantages such as adaptability to complex environments and compliant contact mechanics compared to rigid-bodied robots. A quasi-static model coupled with a kinematic model is proposed to accurately position the end effector, considering inflated beam stiffness and end-effector loads. The model simulation demonstrates the importance of incorporating pressurized tube stiffness for precise control of growing soft-continuum robots.
INTERNATIONAL JOURNAL OF ROBOTICS RESEARCH
(2021)
Article
Automation & Control Systems
Nam Gyun Kim, Jee-Hwan Ryu
Summary: This study proposes a solution for building a soft growing robot using a hyperelastic material. By introducing two unique features of hyperelastic materials, several problems associated with conventional soft growing robots can be addressed, and functions such as shape locking, small tail tension, and easy retraction can be achieved.
ADVANCED INTELLIGENT SYSTEMS
(2023)
Article
Automation & Control Systems
Yu-Hsiang Lin, Robert Siddall, Fabian Schwab, Toshihiko Fukushima, Hritwick Banerjee, Youngjoon Baek, Daniel Vogt, Yong-Lae Park, Ardian Jusufi
Summary: This article presents a control method for soft robotics, using silicone channels embedded with eutectic gallium-indium for strain sensing. A data-driven lumped parameter approach is developed to design a controller, allowing accurate simulation and tuning using experimental data and genetic algorithm. The model accurately predicts the robot's behavior and an amplitude controller is prototyped and deployed to reach the setpoint of tail-beat amplitude.
ADVANCED INTELLIGENT SYSTEMS
(2023)
Article
Chemistry, Analytical
Tieshan Zhang, Gen Li, Xiong Yang, Hao Ren, Dong Guo, Hong Wang, Ki Chan, Zhou Ye, Tianshuo Zhao, Chengfei Zhang, Wanfeng Shang, Yajing Shen
Summary: This study presents a millimeter-scale magnetic-polymer-based modular continuum catheter robot (MMCCR) that can perform various bending with a fast and versatile modular fabrication strategy. By preprogramming the magnetization directions of two simple magnetic units, the assembled MMCCR can transform from a single curvature pose to a multicurvature S shape in the applied magnetic field. Through static and dynamic deformation analyses, high adaptability to different confined spaces is predicted for MMCCRs. Using a bronchial tree phantom, the proposed MMCCRs demonstrated their capability to adaptively access channels with challenging geometries.
Review
Automation & Control Systems
Jue Wang, Alex Chortos
Summary: This article summarizes the actuator mechanisms and control strategies of soft robots and discusses their implementation. Control strategies are evaluated from various perspectives and future directions are forecasted.
ADVANCED INTELLIGENT SYSTEMS
(2022)
Article
Robotics
Naris Asawalertsak, Franziska Heims, Alexander Kovalev, Stanislav N. N. Gorb, Jonas Jorgensen, Poramate Manoonpong
Summary: The study investigates the dynamics of soft body bending and friction anisotropy in crawling robots. It develops a simple soft robot model with an asymmetric structure and studies the effects of frequency, aspect ratio, and substrate on the robot's locomotion. The findings show that different parts of the structure deform differently, generating different frictional forces, and the robot exhibits emergent locomotion through dynamic role switching.
Article
Automation & Control Systems
Chao Zeng, Hang Su, Yanan Li, Jing Guo, Chenguang Yang
Summary: This article presents a novel representation model called human-like compliant movement primitives (Hl-CMPs), inspired by a biomimetic adaptive control strategy, which allows a robot to learn human-like compliant behaviors. By learning movement trajectories obtained from human demonstration, the robot can simultaneously learn impedance and force, and represent skills in a parametric manner.
IEEE TRANSACTIONS ON INDUSTRIAL INFORMATICS
(2022)
Article
Mathematics, Interdisciplinary Applications
Carlos Relano, Jorge Munoz, Concepcion A. Monje, Santiago Martinez, Daniel Gonzalez
Summary: This paper investigates the identification and control problems of a novel two-degrees-of-freedom, tendon-actuated, soft robotic arm. A decoupled identification approach is proposed, and a fractional order control strategy is experimentally tested and compared with PI solutions. Simulation and experimental results demonstrate the effectiveness of the discussed modeling and control approaches.
FRACTAL AND FRACTIONAL
(2023)
Article
Robotics
Cedric Girerd, Tania K. Morimoto
Summary: This study introduces a new hand-held concentric tube robot that combines the flexibility and precision of large robotic devices with the portability of traditional hand-held tools. The device demonstrates excellent human-in-the-loop control performance in applications such as percutaneous abscess drainage, showcasing the potential to bridge the gap between traditional hand-held tools and grounded robotic devices through the integration of rigid body motion and precise tip motion.
IEEE TRANSACTIONS ON ROBOTICS
(2021)
Article
Automation & Control Systems
Shuaizheng Yan, Zhengxing Wu, Jian Wang, Min Tan, Junzhi Yu
Summary: In this article, an efficient locomotion control method for a biomimetic robotic fish in tracking tasks is proposed, utilizing an optimization-based cooperative structured control framework and a linear weighted controller trained with periodic method for deep reinforcement learning. Extensive simulation and experimental results show significant energy savings, with the cooperative structured control outperforming sliding mode control, active disturbance rejection control, and proportional-integral-differential control in terms of energy efficiency.
IEEE-ASME TRANSACTIONS ON MECHATRONICS
(2021)
Article
Engineering, Mechanical
Enrico Franco, Arnau Garriga Casanovas, Alejandro Donaire
Summary: This paper investigates the control problem for soft continuum manipulators operating on a plane under unknown disturbances. A new partial-state feedback controller is designed based on the port-Hamiltonian formulation, showing effectiveness in achieving high position accuracy with measurable tip rotation. The study presents a novel approach to controlling soft continuum manipulators, demonstrating its feasibility through simulations and experiments on a prototype.
MECHANISM AND MACHINE THEORY
(2021)
Article
Computer Science, Cybernetics
Mike Salvato, Sophia R. Williams, Cara M. Nunez, Xin Zhu, Ali Israr, Frances Lau, Keith Klumb, Freddy Abnousi, Allison M. Okamura, Heather Culbertson
Summary: This study investigates whether a sparse representation of human touch is enough to convey social touch signals. By using a soft wearable pressure sensor array, the researchers collected data and developed an algorithm to map the data to an array of actuators, generating signals that can convey social meaning. This technology can potentially improve distant socializing and empathetic remote human-human interaction.
IEEE TRANSACTIONS ON HAPTICS
(2022)
Article
Robotics
Mine Sarac, Tae Myung Huh, Hojung Choi, Mark R. Cutkosky, Massimiliano Di Luca, Allison M. Okamura
Summary: The aim of this study was to provide effective interaction with virtual objects using haptic devices worn near the wrist. The results showed that participants performed better with normal displacements compared to shear displacements during virtual manipulation. A calibration method was needed to find the point of equality between normal and shear stimuli.
IEEE ROBOTICS AND AUTOMATION LETTERS
(2022)
Article
Robotics
Sophia R. Williams, Jacob M. Suchoski, Zonghe Chua, Allison M. Okamura
Summary: This article presents a finger-mounted 4-degree-of-freedom haptic device created using origami fabrication techniques. The device is capable of providing normal, shear, and torsional haptic feedback to the fingertip, and reduces complexity and device footprint through origami manufacturing principles.
IEEE ROBOTICS AND AUTOMATION LETTERS
(2022)
Article
Robotics
M. Salvato, Negin Heravi, Allison M. Okamura, Jeannette Bohg
Summary: This study aims to reduce or eliminate the latency of haptic feedback in mixed reality by predicting when a user will begin touch interaction with a virtual object. By leveraging hand poses and object pose, the researchers achieved accurate prediction within a small time horizon and demonstrated robustness against tracking and alignment noise.
IEEE ROBOTICS AND AUTOMATION LETTERS
(2022)
Article
Rehabilitation
Caitlyn Seim, Bingxian Chen, Chuzhang Han, David Vacek, Alexis Lowber, Maarten Lansberg, Allison M. Okamura
Summary: The study aimed to test the feasibility and efficacy of the VTS Glove in reducing spastic hypertonia. The results showed that daily use of the VTS Glove significantly reduced spasticity, and for patients using BTX-A, the VTS Glove provided equal or greater symptom relief compared to medication.
ARCHIVES OF PHYSICAL MEDICINE AND REHABILITATION
(2023)
Article
Chemistry, Analytical
Zonghe Chua, Allison M. M. Okamura
Summary: This study presents a modular 3DoF force sensor that can easily integrate with existing RMIS tools, providing indirect sensing and haptic feedback for bimanual telesurgical manipulation. The sensor achieves acceptable measurement accuracy and errors, making it suitable for bimanual haptic feedback and robotic force control in delicate tissue telemanipulation.
Article
Neurosciences
Caitlyn Seim, Bingxian Chen, Chuzhang Han, David Vacek, Laura Song Wu, Maarten Lansberg, Allison Okamura
Summary: This study investigates the effectiveness of different approaches of vibrotactile stimulation in reducing spastic hypertonia in post-stroke patients. The results show that cutaneous stimulation of the hand is the most effective method in reducing spastic hypertonia, compared to muscle stimulation and antagonist muscle stimulation.
FRONTIERS IN HUMAN NEUROSCIENCE
(2023)
Article
Robotics
Margaret Koehler, Thor Morales Bieze, Alexandre Kruszewski, Allison M. Okamura, Christian Duriez
Summary: In this article, a new approach for haptic rendering and comanipulation in continuum robotics using a robotic interface with deformable beams and bending sensors is proposed and demonstrated. A nonlinear finite element mechanical model is utilized for real-time computation of the robot's motion, which enables accurate estimation of the user's force on the end effector. Additionally, a higher frequency control loop is implemented to achieve sensing and control at high rates, allowing for haptic rendering of stiffer virtual walls and successful comanipulation tasks.
IEEE TRANSACTIONS ON ROBOTICS
(2023)
Proceedings Paper
Robotics
Alexander M. Kubler, Sebastian Urdaneta Rivera, Frances B. Raphael, Julian Forster, Roland Siegwart, Allison M. Okamura
Summary: This work presents a multi-segment vine robot that can navigate complex paths without interacting with its environment. The robot uses a new steering method that selectively actuates each single pouch at the tip, providing high degrees of freedom with few control inputs. The proposed method can be extended to other soft continuum robot designs.
2023 IEEE INTERNATIONAL CONFERENCE ON SOFT ROBOTICS, ROBOSOFT
(2023)
Proceedings Paper
Robotics
Rianna Jitosho, Sofia Simon-Trench, Allison M. Okamura, Brian H. Do
Summary: Shape change allows for new capabilities in robots. This paper introduces a soft growing vine robot that can achieve dramatic shape change and utilizes a passive tip mount with hook-and-loop fasteners for shape locking without pneumatic or electrical input. Experimental results demonstrate the robot's kinematics, its ability to hold locked bends, and the effect of the fasteners on beam and joint stiffness. The passive shape locking design is a step towards lightweight, low-cost, and low-power reconfigurable robots.
2023 IEEE INTERNATIONAL CONFERENCE ON SOFT ROBOTICS, ROBOSOFT
(2023)
Proceedings Paper
Computer Science, Cybernetics
Elizabeth D. Vasquez, Cole S. Simpson, Genggeng Zhou, Maarten Lansberg, Allison M. Okamura
Summary: Post-stroke upper extremity function can be improved using wearable devices that support shoulder abduction. Researchers have developed a passive, lightweight device that consists of an aluminum frame and elastic bands to aid in shoulder abduction. The device can be adjusted to provide supportive forces to the affected arm. The study showed that the device increased reachable workspace area and improved functional and timing scores in the Wolf Motor Function Test.
2023 INTERNATIONAL CONFERENCE ON REHABILITATION ROBOTICS, ICORR
(2023)
Proceedings Paper
Automation & Control Systems
O. Godson Osele, Allison M. Okamura, Brian H. Do
Summary: This paper presents a high-extension, lightweight robot manipulator that achieves low weight and high extension using spooling bistable tapes. The manipulator is capable of changing its orientation and location, and can reach specified targets in free space.
2022 IEEE INTERNATIONAL CONFERENCE ON ROBOTICS AND AUTOMATION (ICRA 2022)
(2022)
Proceedings Paper
Computer Science, Cybernetics
Ryo Eguchi, David Vacek, Cole Godzinski, Silvia Curry, Max Evans, Allison M. Okamura
Summary: This paper presents a method of generating illusory vibration locations using dynamic tactile stimuli. By adjusting the vibration amplitudes of adjacent motors, it is possible to accurately display between-tactor locations.
HAPTICS: SCIENCE, TECHNOLOGY, APPLICATIONS, EUROHAPTICS 2022
(2022)
Proceedings Paper
Computer Science, Cybernetics
Sreela Kodali, Allison M. Okamura, Thomas C. Bulea, Alexander T. Chesler, Carsten G. Bonnemann
Summary: Researchers have proposed a sensory substitution device that uses detectable haptic stimuli to communicate proprioceptive feedback for individuals with PIEZO2 loss of function. They developed a wearable prototype that maps measurements of elbow movement to deep pressure applied to the forearm. Future work includes testing the device on healthy individuals and those with PIEZO2 loss of function, as well as improving the design of the device.
HAPTICS: SCIENCE, TECHNOLOGY, APPLICATIONS, EUROHAPTICS 2022
(2022)
Article
Engineering, Biomedical
Caitlyn E. Seim, Brandon Ritter, Thad E. Starner, Kara Flavin, Maarten G. Lansberg, Allison M. Okamura
Summary: Vibratory stimulation shows potential in improving post-stroke symptoms, and a wearable device can provide a more mobile form of this stimulation. However, there are challenges in device design, such as difficulties in finger donning and concerns about social comfort.
IEEE TRANSACTIONS ON NEURAL SYSTEMS AND REHABILITATION ENGINEERING
(2022)
