Article
Automation & Control Systems
Dongting Li, Emiliano Quinones Yumbla, Alyssa Olivas, Thomas Sugar, Heni Ben Amor, Hyunglae Lee, Wenlong Zhang, Daniel M. Aukes
Summary: This article introduces a wearable exo-shell device inspired by the human spine to improve the gait of elderly people during obstacle avoidance tasks. The device is designed with origami-inspired techniques and features a chain of lockable joints with a braking system. The article describes the kinematics and forces of the device, discusses the integration of various sensors, and characterizes the performance of the device.
IEEE-ASME TRANSACTIONS ON MECHATRONICS
(2023)
Article
Engineering, Aerospace
Hesheng Han, Lihua Tang, Jianing Wu, Shupeng Sun, Peilun Yin, Dengqing Cao
Summary: A Kresling-origami-inspired isolator (KOI) with quasi-zero stiffness (QZS) property is proposed in this work, which can achieve vibration isolation in axial, torsional, and coupled vibrations. The KOI utilizes a design with a bi-stable base and the special point Case-Q to achieve QZS property. The dynamic responses of the KOI are calculated and compared with simulation results, showing good agreement. The transmissibility of the KOI under axial and torsional vibrations demonstrates efficient vibration isolation performance, even for weak excitations, due to its nonlinearity.
AEROSPACE SCIENCE AND TECHNOLOGY
(2023)
Article
Robotics
Jie Zhang, You Li, Ziyun Kan, Qiufeng Yuan, Hamed Rajabi, Zhigang Wu, Haijun Peng, Jianing Wu
Summary: In this study, a modular tensegrity structure with preprogrammable stiffness was proposed for continuum robots. Theoretical predictions showed that the curvature of each segment could be regulated by preprogramming their spring stiffness. By regulating the distribution of spring stiffness, our robot could move through channels with varying curvatures, exhibiting its potential for applications where varying curvature and conformal and efficient interactions are needed.
Article
Automation & Control Systems
Catherine Jiayi Cai, Xiao Xiao, Manivannan Sivaperuman Kalairaj, Ignatius Jia Jun Lee, Arjun Kesav Mugilvannan, Bok Seng Yeow, Jing Han Tan, Hui Huang, Hongliang Ren
Summary: The article introduces a caterpillar-inspired biomimetic origami robot prototype that can achieve various types of origami terrestrial locomotion through remote actuation with internal and external permanent magnets. The prototype is capable of deformation, compression, and six different types of locomotion, demonstrating its versatility and flexibility.
IEEE-ASME TRANSACTIONS ON MECHATRONICS
(2021)
Article
Engineering, Multidisciplinary
A. Javili, A. T. McBride, J. Mergheim, P. Steinmann
Summary: The objective is to develop a dissipation-consistent elasto-plastic peridynamic formulation. The study distinguishes between different interaction types, investigates the consequences of angular momentum balance, provides appropriate interaction potentials and constitutive laws, and demonstrates the capability of the proposed framework through numerical examples. The framework resembles standard one-dimensional plasticity for all interactions.
COMPUTER METHODS IN APPLIED MECHANICS AND ENGINEERING
(2021)
Article
Engineering, Electrical & Electronic
Wenbin Wang, Xiangping Yu, Yinjun Zhao, Long Li, Yuwen Li, Yingzhong Tian, Fengfeng Xi
Summary: This paper presents a simplified approach to efficiently solve the inverse kinematics of a flexible panel continuum robot. Through an experiment, two approximate relationships are discovered: the arc length of the middle backbone can be estimated from the arc lengths of the two panels, and the length difference between the two panels can be related to the tip angle of the end-effector. Based on these relationships, a simplified inverse kinematics method is proposed using a constant curvature model. The method has been validated with high accuracy, demonstrating its effectiveness for real-time applications.
Article
Automation & Control Systems
Chengshi Wang, Chase G. Frazelle, John R. Wagner, Ian D. Walker
Summary: This article presents a novel control strategy for trajectory control of multisection continuum robots in three-dimensional space. By connecting the dynamic behavior of the continuum manipulator to a virtual discrete-jointed robot, a computed torque control architecture is developed, resulting in improved performance during various maneuvers.
IEEE-ASME TRANSACTIONS ON MECHATRONICS
(2021)
Article
Engineering, Multidisciplinary
Igor Berinskii, Victor A. Eremeyev
Summary: This study discusses the dynamics of a relatively simple origami-inspired structure using discrete and continuum models. The continuum model, derived from the discrete model, accurately captures the behavior of origami structures, which is important for determining material properties and conducting nondestructive evaluations.
INTERNATIONAL JOURNAL OF ENGINEERING SCIENCE
(2023)
Article
Engineering, Mechanical
Zhuang Zhang, Shujie Tang, Weicheng Fan, Yuanhao Xun, Hao Wang, Genliang Chen
Summary: This paper presents the design and analysis of a tendon-driven continuum robot without an elastic backbone, which exhibits high extension ratio, low input pressure, and no radial expansion. The kinetostatics modeling and analysis are developed to predict the motion behavior and control the proposed robot. A prototype is built to validate the design principle and modeling method, showing acceptable positioning accuracy and adjustable structural stiffness.
MECHANISM AND MACHINE THEORY
(2022)
Article
Engineering, Industrial
Alok Ranjan Sahoo, Pavan Chakraborty
Summary: The paper presents the development of a tendon actuated variable stiffness double spring based continuously tapered multi-section flexible robot for inspection in cluttered environments. The study demonstrates the effectiveness of the double spring design in reducing the number of spacers required, facilitating smooth robot interaction with the external world.
INDUSTRIAL ROBOT-THE INTERNATIONAL JOURNAL OF ROBOTICS RESEARCH AND APPLICATION
(2022)
Article
Automation & Control Systems
Qingxiang Zhao, Jiewen Lai, Kaicheng Huang, Xiaobing Hu, Henry K. Chu
Summary: This article presents the development of a soft robotic system with embedded sensors to reconstruct the shape of the robot under various external disturbances. A shape reconstruction method and a local inverse kinematics model are proposed to effectively control the robot.
IEEE-ASME TRANSACTIONS ON MECHATRONICS
(2022)
Article
Automation & Control Systems
Qingxiang Zhao, Jiewen Lai, Kaicheng Huang, Xiaobing Hu, Henry K. Chu
Summary: This article introduces a soft robotic system with embedded sensors to reconstruct the shape of the robot under external disturbances. A control system based on strain gauges and Neural Networks was developed to accurately control the robot with or without external payloads. Simulation and experiments confirmed the effectiveness of the proposed control system.
IEEE-ASME TRANSACTIONS ON MECHATRONICS
(2022)
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
Automation & Control Systems
Zhe Chen, Brandon Tighe, Jianguo Zhao
Summary: To enable robots to adapt to different environments, it is beneficial to equip them with multiple modes of locomotion. This article presents a novel origami-inspired module that can change its shape and motion. By controlling the softness or rigidity of the joints, the modules can be reconfigured. A reconfigurable robot with four legs, each made of four serially connected modules, is developed to demonstrate the capabilities of the proposed method, which allows the robot to walk, crawl, and inch.
IEEE-ASME TRANSACTIONS ON MECHATRONICS
(2022)
Article
Robotics
Guodong Qin, Aihong Ji, Yong Cheng, Wenlong Zhao, Hongtao Pan, Shanshuang Shi, Yuntao Song
Summary: This study presents the development of a snake-inspired continuum robot with underactuated continuum joints simulating the morphological skeleton structure of a snake body. The layered-drive principle reduces complexity significantly, and the rationality of the snake-inspired robot is verified through static and dynamic characteristics analysis.