Articles | Volume 9, issue 1
https://doi.org/10.5194/ms-9-51-2018
© Author(s) 2018. This work is distributed under
the Creative Commons Attribution 4.0 License.
the Creative Commons Attribution 4.0 License.
https://doi.org/10.5194/ms-9-51-2018
© Author(s) 2018. This work is distributed under
the Creative Commons Attribution 4.0 License.
the Creative Commons Attribution 4.0 License.
Research article
| 
07 Feb 2018
Research article |
| 07 Feb 2018
| 07 Feb 2018
Design and evaluation of a continuum robot with extendable balloons
Efe Yamac Yarbasi
School of Aerospace Engineering, Georgia Institute of Technology, Atlanta, GA 30308, USA
Department of Mechanical Engineering, Bogazici University, Istanbul, 34342, Turkey
Related subject area
Subject: Mechanisms and Robotics | Techniques and Approaches: Experiment and Best Practice
Design and performance analysis of the 4UPS-RRR parallel ankle rehabilitation mechanism
Visual simultaneous localization and mapping (vSLAM) algorithm based on improved Vision Transformer semantic segmentation in dynamic scenes
Assistance control strategy for upper-limb rehabilitation robot based on motion trend
Experimental study on fingertip friction perception characteristics on ridged surfaces
Wearable ankle assistance robot for a human walking with different loads
A vision-based robotic system following the human upper-limb sewing action
Gait analysis algorithm for lower limb rehabilitation robot applications
Obstacle-avoidance path planning based on the improved artificial potential field for a 5 degrees of freedom bending robot
Development of a force-field-based control strategy for an upper-limb rehabilitation robot
Assessment of force control for surface finishing – an experimental comparison between Universal Robots UR10e and FerRobotics active contact flange
Characteristics of the Received Signal of an Ultrasonic Sensor Installed in a Chamber with Micro-Leakage
Crushing mechanism of a mobile pellet harvester
Design and analysis of an innovative flapping wing micro aerial vehicle with a figure eight wingtip trajectory
Development of a novel flapping wing micro aerial vehicle with elliptical wingtip trajectory
Design of a robot-assisted exoskeleton for passive wrist and forearm rehabilitation
Design and hardware selection for a bicycle simulator
A novel 5-DOF high-precision compliant parallel mechanism for large-aperture grating tiling
Development of a lower extremity wearable exoskeleton with double compact elastic module: preliminary experiments
Influence of gear loss factor on the power loss prediction
Experimental tests on operation performance of a LARM leg mechanism with 3-DOF parallel architecture
Fatigue testing of flexure hinges for the purpose of the development of a high-precision micro manipulator
An articulated handle to improve the ergonomic performance of robotic dextrous instruments for laparoscopic surgery
Devices for accurate placement of epidural Tuohy needle for Anaesthesia administration
Power-free bistable threshold accelerometer made from a carbon nanotube framework
Origami-like creases in sheet materials for compliant mechanism design
Review article: locomotion systems for ground mobile robots in unstructured environments
Kan Shi, Zongjia Wang, Changtao Yan, and Zhiwei Wang
Mech. Sci., 15, 417–430, https://doi.org/10.5194/ms-15-417-2024, https://doi.org/10.5194/ms-15-417-2024, 2024
Short summary
Short summary
In order to lessen the impact on the team of rehabilitation practitioners and provide patients with a higher-quality rehabilitation process, an ankle rehabilitation robot based on a parallel mechanism is proposed. The feasibility of the ankle rehabilitation robot proposed in this paper is proven by analysis, which lays a foundation for future human–machine experiments. It can act as a reference for future research of the ankle rehabilitation mechanism.
Mengyuan Chen, Hangrong Guo, Runbang Qian, Guangqiang Gong, and Hao Cheng
Mech. Sci., 15, 1–16, https://doi.org/10.5194/ms-15-1-2024, https://doi.org/10.5194/ms-15-1-2024, 2024
Short summary
Short summary
The proposed VTD-SLAM algorithm has the following advantages. (1) A multiclass feature enhancement and multiclass feature guidance semantic segmentation network (MSNET) is proposed to improve the semantic segmentation ability of dynamic objects. (2) Optimal neighbor pixel matching is used to complete the image of the deleted region. Our method can effectively solve the influence of dynamic objects, so that the SLAM system can operate effectively.
Haojun Zhang, Tao Song, and Leigang Zhang
Mech. Sci., 14, 503–518, https://doi.org/10.5194/ms-14-503-2023, https://doi.org/10.5194/ms-14-503-2023, 2023
Short summary
Short summary
To enable the control system to provide minimal assistance and apply different rehabilitation stages according to the subject's performance, this paper proposes a motion-trend-based assistance control strategy. The preliminary experimental results demonstrate that the proposed control strategy works well to quickly adjust the assistance to the subject's motor performance and quickly reduce the assistance when the subject tends to actively participate in the exercise.
Liyong Wang, Li Yang, Le Li, Jianpeng Wu, and Qian Zou
Mech. Sci., 14, 463–477, https://doi.org/10.5194/ms-14-463-2023, https://doi.org/10.5194/ms-14-463-2023, 2023
Short summary
Short summary
The development of bionic skin has always been a challenging scientific research problem. A novel experimental method is proposed for investigating fingertip friction perception characteristics. The results show that the tactile perception accuracy can be improved by changing the surface texture and lubrication conditions. The method can provide peer experience for revealing tactile perception mechanisms and can also provide theoretical guidance for the research of bionic skin.
Junqiang Li, Kuan Yang, and Dong Yang
Mech. Sci., 14, 429–438, https://doi.org/10.5194/ms-14-429-2023, https://doi.org/10.5194/ms-14-429-2023, 2023
Short summary
Short summary
A wearable ankle assisted robot is developed to meet the demand for ankle assistance during human walking. The active energy storage mechanism in the robot can realize the storage and release of energy and realize the application of a low-power motor to provide large assisted force. The experimental results show that the net metabolic cost of the participants is reduced by averages of 5.30 %, 5.67 %, and 4.84 % with 0, 4, and 8 kg loads respectively.
Liming Zhang, Xiaohua Wang, Haoyi Wang, and Pengfei Li
Mech. Sci., 14, 347–359, https://doi.org/10.5194/ms-14-347-2023, https://doi.org/10.5194/ms-14-347-2023, 2023
Short summary
Short summary
This paper proposes a robot following method to follow the sewing action of human upper limbs. The purpose of this paper is to demonstrate that robots can assist workers in the future. Compared with the visual servo method, the accuracy is much improved.
Li Zheng and Tao Song
Mech. Sci., 14, 315–331, https://doi.org/10.5194/ms-14-315-2023, https://doi.org/10.5194/ms-14-315-2023, 2023
Short summary
Short summary
In this paper, a gait analysis algorithm for a lower limb rehabilitation robot is proposed. The algorithm realizes the division of gait temporal information and the design of a gait spatiotemporal parameter algorithm based on lidar. A spatial parameter-splicing algorithm based on a time series is proposed, which effectively reduces the influence of errors on gait parameters. Based on the gait algorithm, aiming at real-time algorithm performance, a dynamic window method is proposed.
Quansheng Jiang, Kai Cai, and Fengyu Xu
Mech. Sci., 14, 87–97, https://doi.org/10.5194/ms-14-87-2023, https://doi.org/10.5194/ms-14-87-2023, 2023
Short summary
Short summary
Traditional path-planning algorithms for bending robots are often a sequence of multiple line segments and an unsmoothed curve, which causes a discontinuous robot motion. A smooth path can ensure continuous motion. We propose an improved artificial potential field-based path-planning method based on the idea of a rapidly exploring random tree (RRT) algorithm, reducing the length of and smoothing the path, thus solving the path-planning problem of a multi-degrees-of-freedom (DOF) bending robot.
Jiasheng Pan, Leigang Zhang, and Qing Sun
Mech. Sci., 13, 949–959, https://doi.org/10.5194/ms-13-949-2022, https://doi.org/10.5194/ms-13-949-2022, 2022
Short summary
Short summary
Robot-assisted rehabilitation has proven to be effective for improving the motor performance of patients with neuromuscular injuries. Therefore, the main purpose of this paper is to present a new patient-cooperative control framework for an end-effector upper-limb rehabilitation robot that provides robot-assisted training for individuals with neuromuscular disorders. The feasibility of the proposed control scheme is validated via training experiments using five healthy subjects.
Stefan Gadringer, Hubert Gattringer, and Andreas Mueller
Mech. Sci., 13, 361–370, https://doi.org/10.5194/ms-13-361-2022, https://doi.org/10.5194/ms-13-361-2022, 2022
Short summary
Short summary
We introduce different test scenarios and set-ups for a force control assessment. The force control of Universal Robots (UR10e) and FerRobotics (ACF-K 109/04) are evaluated. A force/torque sensor, mounted below a work piece, measures the applied force by the UR or by the ACF. Results for both UR and ACF force control are presented for varying desired contact velocities and forces. These results show the advantage of the ACF-K 109/04 over the UR10e force control for highly dynamic scenarios.
Wonjun Seo, Seokyeon Im, and Geesoo Lee
Mech. Sci., 12, 1051–1060, https://doi.org/10.5194/ms-12-1051-2021, https://doi.org/10.5194/ms-12-1051-2021, 2021
Short summary
Short summary
This study is focused on analyzing signal changes according to internal flow and temperature change by generating micro-leakage, unlike previous studies that experimented with no flow inside a chamber. In addition, a new application method utilizing a phase shift by post-processing the ultrasonic reception signal was proposed. By using the ultrasonic sensor, a different method was proposed for the measurement of micro-leakage of gaseous fuel that relied on the existing pressure sensor.
Yanyan Ge, Zichao Su, Maohua Xiao, Min Kang, Ruyi Wang, and Qin Zeng
Mech. Sci., 12, 725–733, https://doi.org/10.5194/ms-12-725-2021, https://doi.org/10.5194/ms-12-725-2021, 2021
Short summary
Short summary
This study proposed and verified a new idea for the crushing system of a mobile pellet harvester. As the key components of the crushing mechanism, the theoretical design calculation was given, and Ansys software was used to verify the feasibility of the design, specifically by computing the strength and stiffness. Field tests were conducted, and the test results met the requirements. This design can promote the further development of a mobile pellet harvester.
Shan Jiang, Yong Hu, Qiang Li, Long Ma, Yang Wang, Xiaoqin Zhou, and Qiang Liu
Mech. Sci., 12, 603–613, https://doi.org/10.5194/ms-12-603-2021, https://doi.org/10.5194/ms-12-603-2021, 2021
Short summary
Short summary
An innovative flapping wing micro aerial vehicle (FWMAV), forming a figure eight wingtip trajectory, which can achieve complex composite motions of flapping, twisting, and swinging is presented in this paper. Along with the design concept of reducing any possible weight and size, the aircraft was designed with classical and reliable mechanical components. Then, experiments were conducted to test the FWMAV aerodynamic efficiency with a complex figure eight wingtip trajectory.
Qiang Liu, Qiang Li, Xiaoqin Zhou, Pengzi Xu, Luquan Ren, and Shengli Pan
Mech. Sci., 10, 355–362, https://doi.org/10.5194/ms-10-355-2019, https://doi.org/10.5194/ms-10-355-2019, 2019
Mehmet Erkan Kütük, Lale Canan Dülger, and Memik Taylan Daş
Mech. Sci., 10, 107–118, https://doi.org/10.5194/ms-10-107-2019, https://doi.org/10.5194/ms-10-107-2019, 2019
Short summary
Short summary
This paper presents a new exoskeleton design for wrist and forearm rehabilitation. The contribution of this study is to offer a methodology which shows how to adapt a serial manipulator that reduces the number of actuators used in exoskeleton design for the rehabilitation. The system offered is a combination of end-effector- and exoskeleton-based devices. The passive exoskeleton is attached to the end effector of the manipulator, which provides motion for the purpose of rehabilitation process.
Georgios Dialynas, Riender Happee, and Arend L. Schwab
Mech. Sci., 10, 1–10, https://doi.org/10.5194/ms-10-1-2019, https://doi.org/10.5194/ms-10-1-2019, 2019
Short summary
Short summary
With the resurgence in bicycle ridership in the last decade, a better understanding of bicycle rider
behavior is important in accommodating increasing bicycle traffic as well as reducing accidents that come along with it. At TU Delft we have designed a fixed-base bicycle simulator to understand how bicycle rider's interact with other road users in a safe virtual environment.
Zhongxi Shao, Shilei Wu, Jinguo Wu, and Hongya Fu
Mech. Sci., 8, 349–358, https://doi.org/10.5194/ms-8-349-2017, https://doi.org/10.5194/ms-8-349-2017, 2017
Yi Long, Zhi-jiang Du, Chao-feng Chen, Wei-dong Wang, and Wei Dong
Mech. Sci., 8, 249–258, https://doi.org/10.5194/ms-8-249-2017, https://doi.org/10.5194/ms-8-249-2017, 2017
Short summary
Short summary
Compared to the traditional pHRI measurement approaches, the proposed method arranged the sensors in the mechanical joint instead of the connection cuff. This kind of architecture has compact architecture and improves the wearing comfort, which can adapt to various operators and is convenient to be applied in the wearable exoskeleton. The performance of the DEM will be studied in the following work and human-exoskeleton coordination control strategies will be investigated in future work.
C. M. C. G. Fernandes, P. M. T. Marques, R. C. Martins, and J. H. O. Seabra
Mech. Sci., 6, 81–88, https://doi.org/10.5194/ms-6-81-2015, https://doi.org/10.5194/ms-6-81-2015, 2015
Short summary
Short summary
The importance of the gear loss factor in the power loss predictions was put in evidence comparing the predictions with experimental results.
It was concluded that the gear loss factor is a decisive factor to accurately predict the power loss.
Different formulations proposed in the literature were compared and it was shown that only few were able to yield satisfactory correlations with experimental results.
M. F. Wang, M. Ceccarelli, and G. Carbone
Mech. Sci., 6, 1–8, https://doi.org/10.5194/ms-6-1-2015, https://doi.org/10.5194/ms-6-1-2015, 2015
Short summary
Short summary
In this paper, 1) We design and built a prototype of a LARM tripod leg mechanism with low-cost easy-operation features that can be useful in a biped locomotor; 2) We present an experimental layout for investigating operational performance of the built prototype; 3) We characterize and analyze the system behaviour by follow a prescribed step movement of the foot platform under consideration with human walking.
I. Ivanov and B. Corves
Mech. Sci., 5, 59–66, https://doi.org/10.5194/ms-5-59-2014, https://doi.org/10.5194/ms-5-59-2014, 2014
B. Herman, A. Devreker, F. Richer, A. Hassan Zahraee, and J. Szewczyk
Mech. Sci., 5, 21–28, https://doi.org/10.5194/ms-5-21-2014, https://doi.org/10.5194/ms-5-21-2014, 2014
N. Vaughan, V. N. Dubey, M. Y. K. Wee, and R. Isaacs
Mech. Sci., 5, 1–6, https://doi.org/10.5194/ms-5-1-2014, https://doi.org/10.5194/ms-5-1-2014, 2014
J. D. Tanner and B. D. Jensen
Mech. Sci., 4, 397–405, https://doi.org/10.5194/ms-4-397-2013, https://doi.org/10.5194/ms-4-397-2013, 2013
K. C. Francis, J. E. Blanch, S. P. Magleby, and L. L. Howell
Mech. Sci., 4, 371–380, https://doi.org/10.5194/ms-4-371-2013, https://doi.org/10.5194/ms-4-371-2013, 2013
L. Bruzzone and G. Quaglia
Mech. Sci., 3, 49–62, https://doi.org/10.5194/ms-3-49-2012, https://doi.org/10.5194/ms-3-49-2012, 2012
Cited articles
Bishop-Moser, J., Krishnan, G., Kim, C., and Kota, S.: Design of soft robotic
actuators using fluid-filled fiber-reinforced elastomeric enclosures in
parallel combinations, in: IEEE International Conference on Intelligent
Robots and Systems, Vilamoura, Portugal, 7–12 October 2012, 4264–4269,
https://doi.org/10.1109/IROS.2012.6385966, 2012.
Calisti, M., Giorelli, M., Levy, G., Mazzolai, B., Hochner, B., Laschi, C.,
and Dario, P.: An octopus-bioinspired solution to movement and manipulation
for soft robots, Bioinspir. Biomim., 6, 36002,
https://doi.org/10.1088/1748-3182/6/3/036002, 2011.
Cheng, N. G., Lobovsky, M. B., Keating, S. J., Setapen, A. M., Gero, K. I.,
Hosoi, A. E., and Iagnemma, K. D.: Design and analysis of a robust, low-cost,
highly articulated manipulator enabled by jamming of granular media, in
Proceedings – IEEE International Conference on Robotics and Automation,
Saint Paul, MN, USA, 14–18 May 2012, 4328–4333, 2012.
Chirikjian, G. S. and Burdick, J. W.: An obstacle avoidance algorithm for
hyper-redundant manipulators, in IEEE International Conference on Robotics
and Automation, Cincinnati, OH, USA, 13–18 May 1990, 625–631, 1990.
Chirikjian, G. S. and Burdick, J. W.: A hyper-redundant manipulator, IEEE
Robot. Autom. Mag., 1, 22–29, https://doi.org/10.1109/100.388263, 1994.
Chou, C. P. and Hannaford, B.: Measurement and modeling of McKibben pneumatic
artificial muscles, IEEE Trans. Robot. Autom., 12, 90–102,
https://doi.org/10.1109/70.481753, 1996.
Cianchetti, M., Ranzani, T., Gerboni, G., Nanayakkara, T., Althoefer, K.,
Dasgupta, P., and Menciassi, A.: Soft robotics technologies to address
shortcomings in today's minimally invasive surgery: the STIFF-FLOP approach,
Soft Robot., 1, 122–131, https://doi.org/10.1089/soro.2014.0001, 2014.
Cianchetti, M., Calisti, M., Margheri, L., Kuba, M., and Laschi, C.:
Bioinspired locomotion and grasping in water: the soft eight-arm OCTOPUS
robot, Bioinspir. Biomim., 10, 35003, https://doi.org/10.1088/1748-3190/10/3/035003,
2015.
Conrad, B. and Zinn, M.: Closed Loop Task Space Control of an Interleaved
Continuum – Rigid Manipulator, in IEEE International Conference on Robotics
and Automation, Seattle, WA, 1743–1750, 2015.
Follador, M., Cianchetti, M., and Laschi, C.: Development of the functional
unit of a completely soft octopus-like robotic arm, in: 2012 4th IEEE RAS and
EMBS International Conference on Biomedical Robotics and Biomechatronics
(BioRob), IEEE, 24–27 June 2012, Rome, Italy, 640–645, 2012.
Godage, I. S., Medrano-Cerda, G. A., Branson, D. T., Guglielmino, E., and
Caldwell, D. G.: Dynamics for variable length multisection continuum arms,
Int. J. Robot. Res., 35, 695–722, https://doi.org/10.1177/0278364915596450, 2016.
Grossard, M., Chaillet, N., and Regnier, S.: Flexible Robotics, John Wiley &
Sons, Inc., London, UK, 349–379, 2013.
Hawkes, E. W., Christensen, D. L., and Okamura, A. M.: Design and
implementation of a 300 % strain soft artificial muscle, in: 2016 IEEE
International Conference on Robotics and Automation (ICRA), IEEE, 16–21 May
2016, Stockholm, Sweden, 4022–4029, 2016.
Hawkes, E. W., Blumenschein, L. H., Greer, J. D., and Okamura, A. M.: A soft
robot that navigates its environment through growth, Sci. Robot., 2,
eaan3028, https://doi.org/10.1126/scirobotics.aan3028, 2017.
Kang, R., Branson, D. T., Zheng, T., Guglielmino, E., and Caldwell, D. G.:
Design, modeling and control of a pneumatically actuated manipulator inspired
by biological continuum structures, Bioinspir. Biomim., 8, 036008,
https://doi.org/10.1088/1748-3182/8/3/036008, 2013.
Katz, D., Pyuro, Y., and Brock, O.: Learning to Manipulate Articulated
Objects in Unstructured Environments Using a Grounded Relational
Representation, Proceedings of Robotics: Science and Systems IV, ETH Zurich,
Switzerland, 25–28 June 2008, https://doi.org/10.15607/RSS.2008.IV.033, 2008.
Katzschmann, R. K., Marchese, A. D., and Rus, D.: Autonomous object
manipulation using a soft planar grasping manipulator, Soft Robot., 2,
155–164, https://doi.org/10.1089/soro.2015.0013, 2015.
Kier, W. M. and Smith, K. K.: Tongues, tentacles and trunks: the biomechanics
of movement in muscular-hydrostats, Zool. J. Linn. Soc.-Lond., 83, 307-324,
1985.
Laschi, C., Cianchetti, M., Mazzolai, B., Margheri, L., Follador, M., and
Dario, P.: Soft robot arm inspired by the octopus, Adv. Robotics., 26,
709–727, https://doi.org/10.1163/156855312X626343, 2012.
Laschi, C., Mazzolai, B., and Cianchetti, M.: Soft robotics: Technologies and
systems pushing the boundaries of robot abilities, Sci. Robot., 1, eaah3690,
https://doi.org/10.1126/scirobotics.aah3690, 2016.
Majidi, C.: Soft robotics: a perspective – current trends and prospects for
the future, Soft Robot., 1, 5–11, https://doi.org/10.1089/soro.2013.0001, 2014.
Marchese, A. D., Tedrake, R., and Rus, D.: Dynamics and trajectory
optimization for a soft spatial fluidic elastomer manipulator, Int. J. Rob.
Res., 35, 1000–1019, https://doi.org/10.1177/0278364915587926, 2016.
Moers, A. J. M., De Volder, M. F. L., and Reynaerts, D.: Integrated high
pressure microhydraulic actuation and control for surgical instruments,
Biomed. Microdevices, 14, 699–708, https://doi.org/10.1007/s10544-012-9650-y, 2012.
Müller, I. and Strehlow, P.: Rubber and Rubber Balloons: Paradigms of
Thermodynamics, Springer-Verlag, Berlin, Germany, 2004.
Penning, R. S. and Zinn, M. R.: A combined modal-joint space control approach for continuum manipulators, Adv. Robotics., 28, 1091–1108, https://doi.org/10.1080/01691864.2014.913503, 2014.
Ranzani, T., Gerboni, G., Cianchetti, M., and Menciassi, A.: A bioinspired soft manipulator for minimally invasive surgery, Bioinspir. Biomim., 10, 35008, https://doi.org/10.1088/1748-3190/10/3/035008, 2015.
Robinson, G. and Davies, J. B. C.: Continuum robots – a state of the art,
in: IEEE International Conference on Robotics and Automation, 10–15 May
1999, Detroit, MI, 4, 2849–2854, 1999.
Rus, D. and Tolley, M. T.: Design, fabrication and control of soft robots,
Nature, 521, 467–475, https://doi.org/10.1038/nature14543, 2015.
Sun, Y., Song, S., Liang, X. and Ren, H.: A Miniature Soft Robotic
Manipulator Based on Novel Fabrication Methods, IEEE Robot. Autom. Lett., 1,
617–623, https://doi.org/10.1109/LRA.2016.2521889, 2016.
Swaney, P. J., Mahoney, A. W., Remirez, A. A., Lamers, E., Hartley, B. I.,
Feins, R. H., Alterovitz, R. and Webster, R. J.: Tendons, concentric tubes,
and a bevel tip: Three steerable robots in one transoral lung access system,
in Proceedings – IEEE International Conference on Robotics and Automation,
vol. 2015-June, Seattle, WA, USA, 5378–5383, 2015.
Tolley, M. T., Shepherd, R. F., Mosadegh, B., Galloway, K. C., Wehner, M.,
Karpelson, M., Wood, R. J., and Whitesides, G. M.: A resilient, untethered
soft robot, Soft Robot., 1, 213–223, https://doi.org/10.1089/soro.2014.0008, 2014.
Tonapi, M. M., Godage, I. S., Vijaykumar, A. M., and Walker, I. D.: A novel
continuum robotic cable aimed at applications in space, Adv. Robotics., 29,
861–875, https://doi.org/10.1080/01691864.2015.1036772, 2015.
Walker, I. D.: Continuous backbone “continuum” robot manipulators, ISRN
Robot., 2013, 1–19, https://doi.org/10.5402/2013/726506, 2013.
Yarbasi, E. Y.: Design and Evaluation of a Continuum Robot with Extendable
Balloons, MS thesis, Bogazici University, Istanbul, Turkey, 2016.
Short summary
This article presents a novel continuum robot actuated by two extendable balloons. As inflated, the balloons apply a force on the wall of the tip, pushing the robot forward. The contribution of this study is the introduction of a novel actuation mechanism for soft robots to have extreme elongation (2000 %) in order to be navigated in substantially long and narrow environments.
This article presents a novel continuum robot actuated by two extendable balloons. As inflated,...
