Compact Pneumatic Clutch With Integrated Stiffness Variation and Position Feedback
| Autor: | Junlin Ma, Diansheng Chen, Zhe Liu, Yingtian Li, Yongkang Jiang, Jamie Paik |
|---|---|
| Rok vydání: | 2021 |
| Předmět: |
0209 industrial biotechnology
Control and Optimization Computer science Biomedical Engineering mechanism 02 engineering and technology variable stiffness 020901 industrial engineering & automation Artificial Intelligence medicine compact clutch Clutch gripper integrated design actuator Simulation Haptic technology Integrated design Force density Mechanical Engineering Work (physics) soft robots Stiffness 021001 nanoscience & nanotechnology Computer Science Applications Human-Computer Interaction origami robots soft Control and Systems Engineering Bending stiffness robots Computer Vision and Pattern Recognition medicine.symptom 0210 nano-technology Actuator |
| Zdroj: | IEEE Robotics and Automation Letters. 6:5697-5704 |
| ISSN: | 2377-3774 |
| Popis: | Stiffness variation and real-time position feedback are critical for any robotic system but most importantly for active and wearable devices to interact with the user and environment. Currently, for compact sizes, there is a lack of solutions bringing high-fidelity feedback and maintaining design and functional integrity. In this work, we propose a novel minimal clutch with integrated stiffness variation and real-time position feedback whose performance surpasses conventional jamming solutions. We introduce integrated design, modeling, and verification of the clutch in detail. Preliminary experimental results show the change in impedance force of the clutch is close to 24-fold at the maximum force density of 15.64 N/cm(2). We validated the clutch experimentally in (1) enhancing the bending stiffness of a soft actuator to increase a soft manipulator's gripping force by 73%; (2) enabling a soft cylindrical actuator to execute omnidirectional movement; (3) providing real-time position feedback for hand posture detection and impedance force for kinesthetic haptic feedback. This manuscript presents the functional components with a focus on the integrated design methodology, which will have an impact on the development of soft robots and wearable devices. |
| Databáze: | OpenAIRE |
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