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IEEE/ASME Transactions on Mechatronics publication information
Publication Year: 2019,Page(s):C2 - C2
Cited by: Papers (1)
IEEE/ASME Transactions on Mechatronics publication information
Year: 2019 | Volume: 24 | Issue: 1
Guest Editorial Focused Section on Soft Actuators, Sensors, and Components (SASC)
Publication Year: 2019,Page(s):1 - 4
Cited by: Papers (2)
Guest Editorial Focused Section on Soft Actuators, Sensors, and Components (SASC)
Year: 2019 | Volume: 24 | Issue: 1
Modeling of Soft Robots Actuated by Twisted-and-Coiled Actuators
Benjamin Pawlowski;Jiefeng Sun;Jing Xu;Yingxiang Liu;Jianguo Zhao
Publication Year: 2019,Page(s):5 - 15
Cited by: Papers (57)
Soft robots made from soft materials outperform traditional rigid robots in safety, maneuverability, and adaptability. Various methods have been proposed to actuate soft robots such as cables, pneumatic, or smart materials (e.g., shape memory alloys, dielectric elastomer, or ionic polymer-metal composites, etc.). In this paper, we propose to leverage a recently discovered artificial muscle-twisted...Show More
A Compact Modular Soft Surface With Reconfigurable Shape and Stiffness
Publication Year: 2019,Page(s):16 - 24
Cited by: Papers (23)
A variety of reconfigurable surface devices, utilizing large numbers of actuated physical pixels to produce discretized three-dimensional contours, have been developed for different purposes in research and industry. The difficulty of integrating many actuators in close configuration has limited the DOF and resolution and performance of existing devices. Utilizing vacuum power and soft material ac...Show More
Dynamic Modeling and Feedforward Control of Jaw Movements Driven by Viscoelastic Artificial Muscles
Publication Year: 2019,Page(s):25 - 35
Cited by: Papers (19)
Artificial muscles based on dielectric elastomer actuators (DEAs) have been used to mimic the motion of the human jaw. However, DEAs show strong nonlinear behavior coupled with rate dependent viscoelastic phenomena. Under cyclic actuation, the viscoelastic creep coupled with hysteresis further makes control of these viscoelastic membranes difficult. In this paper, we develop a nonlinear dynamic mo...Show More
High-Precision Tracking Control of a Soft Dielectric Elastomer Actuator With Inverse Viscoelastic Hysteresis Compensation
Publication Year: 2019,Page(s):36 - 44
Cited by: Papers (58)
In this paper, we present a new control approach for high-precision tracking control of a soft dielectric elastomer actuator (DEA) with inverse viscoelastic hysteresis compensation. To this end, we first investigate the viscoelastic response of the DEA and divide it into transition region and stable region. Then, the viscoelastic response is characterized by creep and hysteresis effects according ...Show More
Programmable Deformations of Networked Inflated Dielectric Elastomer Actuators
Feifei Chen;Jiawei Cao;Hongying Zhang;Michael Yu Wang;Jian Zhu;Y. F. Zhang
Publication Year: 2019,Page(s):45 - 55
Cited by: Papers (18)
Soft actuators play an indispensable role in producing motions of soft robots. Dielectric elastomer actuators coupled with a fluid/air mass have proved to undergo considerable voltage-induced deformation. To achieve large deformation, a dominant way is to trigger snap-through instability, but the induced instantaneous deformation is not continuously stable, resulting in a limited space for control...Show More
Deep Full-Body Motion Network for a Soft Wearable Motion Sensing Suit
Dooyoung Kim;Junghan Kwon;Seunghyun Han;Yong-Lae Park;Sungho Jo
Publication Year: 2019,Page(s):56 - 66
Cited by: Papers (100)
Soft sensors are becoming more popular in wearables as a means of tracking human body motions due to their high stretchability and easy wearability. However, previous research not only was limited to only certain body parts, but also showed problems in both calibration and processing of the sensor signals, which are caused by the high nonlinearity and hysteresis of the soft materials and also by t...Show More
Wearable Finger Tracking and Cutaneous Haptic Interface with Soft Sensors for Multi-Fingered Virtual Manipulation
Yongjun Lee;Myungsin Kim;Yongseok Lee;Junghan Kwon;Yong-Lae Park;Dongjun Lee
Publication Year: 2019,Page(s):67 - 77
Cited by: Papers (41)
Multi-Fingered haptics is imperative for truly immersive virtual reality experience, as many real-world tasks involve finger manipulation. One of the key lacking aspect for this is the absence of technologically and economically viable wearable haptic interfaces that can simultaneously track the finger/hand motions and display multi-degree-of-freedom (DOF) contact forces. In this paper, we propose...Show More
Application-Driven Design of Soft, 3-D Printed, Pneumatic Actuators With Bellows
Dylan Drotman;Michael Ishida;Saurabh Jadhav;Michael T. Tolley
Publication Year: 2019,Page(s):78 - 87
Cited by: Papers (122)
Soft robots are flexible and adaptable allowing them to conform to objects of different shapes and sizes. However, the flexibility of soft robots leads to challenges in designing and fabricating them to satisfy application-specific requirements. In this paper, we present a class of 3-D printable three-chambered actuator modules, along with analytical models to predict actuation behavior based on a...Show More
Configuration Estimation for Accurate Position Control of Large-Scale Soft Robots
Phillip Hyatt;Dustan Kraus;Vallan Sherrod;Levi Rupert;Nathan Day;Marc D. Killpack
Publication Year: 2019,Page(s):88 - 99
Cited by: Papers (42)
There is a significant trend in robotics of exploring passively compliant and low inertia systems that can safely make contact with the environment. This paper defines many of the problems associated with developing effective control of soft, pneumatically actuated, inflatable robots, and proposes an approach to solving a subset of these problems. We show that we can obtain a global measurement of...Show More
Bioinspired Soft Actuators for Eyeball Motions in Humanoid Robots
Publication Year: 2019,Page(s):100 - 108
Cited by: Papers (32)
Technological progress in advanced materials and artificial intelligence has given an impetus to the development of humanoid robots that can mimic human appearance and interact with people effectively. Eyeball motions play a key role in facial expression of humanoid robots, and can greatly improve the relationship between the robots and the users. In this paper, we develop soft actuators which can...Show More
Finite-Element Modeling and Design of a Pneumatic Braided Muscle Actuator With Multifunctional Capabilities
Taimoor Hassan;Matteo Cianchetti;Moji Moatamedi;Barbara Mazzolai;Cecilia Laschi;Paolo Dario
Publication Year: 2019,Page(s):109 - 119
Cited by: Papers (27)
This paper reports the concept, design, and development of a pneumatic braided muscle actuator, able to produce bidirectional force and motion. Such a capability can simplify the design and enhance the capabilities of robotic/automation systems using pneumatic muscles as actuators. Finite-element modeling is utilized as a design tool in order to study the feasibility of the concept, where a single...Show More
Topology Optimized Multimaterial Soft Fingers for Applications on Grippers, Rehabilitation, and Artificial Hands
Hongying Zhang;A. Senthil Kumar;Feifei Chen;Jerry Y. H. Fuh;Michael Yu Wang
Publication Year: 2019,Page(s):120 - 131
Cited by: Papers (101)
Multimaterial soft robots, composing of integrated soft actuators and a relatively harder body, show great potential to exert higher payloads and support their own weights. This paper proposed a systemic framework to automatically design and fabricate this kind of robots. The multimaterial design problem is mathematically modeled under the framework of topology optimization in which the structure ...Show More
Model and Characterization of a Press-Button-Type Piezoelectric Energy Harvester
Publication Year: 2019,Page(s):132 - 143
Cited by: Papers (14)
In this paper, a press-button-type piezoelectric energy harvester (PEH) is presented. The proposed device is composed of a piezoelectric bender, four magnets, a button, and a reverted spring. The proposed structure is triggered by an impact driven by magnetic force, so this novel trigger mechanism enhances its optimal power output. Based on the piezoelectricity, beam theory, and the vibration theo...Show More
Numerical Treatment of Singularity in Hydraulic Circuits Using Singular Perturbation Theory
Publication Year: 2019,Page(s):144 - 153
Cited by: Papers (13)
Hydraulic cylinders and motors are commonly used in actuator systems of mobile machines and industrial applications. Hydraulic actuators have the ability to offer large amounts of energy density. To analyze the dynamic behavior of a hydraulic actuator system, the hydraulic circuit is generally divided into volumes in which pressure is assumed to be equally distributed. The pressure within these vo...Show More
Reversible Swelling and Shrinking of Paramagnetic Nanoparticle Swarms in Biofluids With High Ionic Strength
Publication Year: 2019,Page(s):154 - 163
Cited by: Papers (32)
A microrobotic swarm has drawn extensive attention recently, due to its potential advantages in real-time tracking and targeted delivery in vivo. Herein, we use paramagnetic nanoparticles with a diameter of 500 $\mu \text{m}$ as building blocks to investigate the reversible pattern transformation of a swarm, i.e., swelling and shrinking, in biofluids by simulation and experiments. Three kinds of b...Show More
A MUltidimensional Compliant Decoupled Actuator (MUCDA) for Pelvic Support During Gait
Dario Wyss;Andrew Pennycott;Volker Bartenbach;Robert Riener;Heike Vallery
Publication Year: 2019,Page(s):164 - 174
Cited by: Papers (8)
Series Elastic Actuation decouples actuator inertia from the interaction ports and is thus advantageous for force-controlled devices. Parallel or even passive compliance can fulfill a complementary role by compensating for gravitational or periodic inertial forces or by providing passive guidance. Here, these concepts are combined in an underactuated six degree of freedom (6-DoF) compliant manipul...Show More
Simplified Newton-Based CEE and Discrete-Time Fractional-Order Sliding-Mode CEC
Publication Year: 2019,Page(s):175 - 185
Cited by: Papers (32)
This paper presents a simplified Newton-based contouring error estimation (CEE) method and a discrete-time fractional-order sliding-mode contouring error control (CEC) strategy to obtain an excellent contouring motion performance for multidimensional systems. Specifically, the simplified Newton-based CEE (SNE) is modified from the Newton extremum seeking algorithm. Compared with existing CEE, the ...Show More
Quantitative Evaluation of Human Finger Tapping Movements Through Magnetic Measurements
Keisuke Shima;Toshio Tsuji;Akihiko Kandori;Masaru Yokoe;Saburo Sakoda
Publication Year: 2019,Page(s):186 - 196
Cited by: Papers (4)
In this study, a magnetic sensor consisting of two coils was used to measure and evaluate finger tapping (FT) movements for diagnosis support and assessment of motor function. The sensor enables estimation of the distance between the two coil-bearing fingertips according to the nonlinear relationships between voltage and distance. The finger movements measured are evaluated by computing 12 indices...Show More
A Method for Sensor Reduction in a Supervised Machine Learning Classification System
Niko Murrell;Ryan Bradley;Nikhil Bajaj;Julie Gordon Whitney;George T.-C. Chiu
Publication Year: 2019,Page(s):197 - 206
Cited by: Papers (8)
Smart devices employing interconnected sensors for feedback and control are being rapidly adopted. Many useful applications for these devices are in markets that demand cost-conscious solutions. Traditional machine-learning-based control systems often rely on multiple measurements from many sensors to achieve performance targets. An alternative method is presented that leverages a time-series outp...Show More
A XY Transporting and Nanopositioning Piezoelectric Robot Operated by Leg Rowing Mechanism
Publication Year: 2019,Page(s):207 - 217
Cited by: Papers (56)
A piezoelectric robot with four parallel legs operating in rowing mechanism was presented and tested. The driving feet of the legs moved in a triangular trajectory, and a pair of legs on the same axis operated like rowing to move the robot step-by-step through the static friction forces between the driving feet and platform. A kinematic model with respect to the motion of the piezoelectric legs wa...Show More
Modeling and Control of a 2-DOF Dielectric Elastomer Diaphragm Actuator
Publication Year: 2019,Page(s):218 - 227
Cited by: Papers (12)
In optical systems, reflectors are commonly used for directing light beams to desired directions. In this paper, a dielectric elastomer (DE) based optical manipulator is developed for two degrees-of-freedom (2-DOF) manipulation. The DE manipulator consists of a diaphragm with four segments that are controlled in two pairs, thus generating 2-DOF tilting motions. Due to its soft and gear-less moving...Show More
Modeling and Control of a 2-DOF Dielectric Elastomer Diaphragm Actuator
Year: 2019 | Volume: 24 | Issue: 1
An Analytical Design-Optimization Method for Electric Propulsion Systems of Multicopter UAVs With Desired Hovering Endurance
Publication Year: 2019,Page(s):228 - 239
Cited by: Papers (48)
Multicopters are becoming increasingly important both in civil and military fields. Currently, most multicopter propulsion systems are designed by experience and trial-and-error experiments, which are costly and ineffective. This paper proposes a simple and practical method to help designers find the optimal propulsion system according to the given design requirements. First, the modeling methods ...Show More
Contact Information
Editor-in-Chief
Huijun Gao
Harbin Institute of Technology, Research Institute of Intelligent Control and Systems
Harbin
China
hjgao@hit.edu.cnContact Information
Editor-in-Chief
Huijun Gao
Harbin Institute of Technology, Research Institute of Intelligent Control and Systems
Harbin
China
hjgao@hit.edu.cnIEEE Account
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