Modular Origami Soft Robot with the Perception of Interaction Force and Body Configuration
Bio‐inspired soft robots provide a promising solution for robots working in human‐centered scenarios and interacting with unstructured environments. However, the functional versatility and multimodal sensing of soft robots still need improvements. On one hand, the configuration of a soft robot is pr...
| Main Authors: | , , , , , , , |
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| Format: | Article |
| Language: | English |
| Published: |
Wiley
2022-09-01
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| Series: | Advanced Intelligent Systems |
| Subjects: | |
| Online Access: | https://doi.org/10.1002/aisy.202200081 |
| _version_ | 1818060514155036672 |
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| author | Junda Huang Jianshu Zhou Zhengyan Wang Jones Law Hanwen Cao Yichuan Li Hongbo Wang Yunhui Liu |
| author_facet | Junda Huang Jianshu Zhou Zhengyan Wang Jones Law Hanwen Cao Yichuan Li Hongbo Wang Yunhui Liu |
| author_sort | Junda Huang |
| collection | DOAJ |
| description | Bio‐inspired soft robots provide a promising solution for robots working in human‐centered scenarios and interacting with unstructured environments. However, the functional versatility and multimodal sensing of soft robots still need improvements. On one hand, the configuration of a soft robot is predefined during manufacturing; on the other hand, the multimodal perception of the deformable soft actuator is challenging. In this work, a reconfigurable and proprioceptive soft origami module is presented, where two kinds of basic actuation modes (i.e., extension and bending) are realized, and multimodal perception is enabled using a novel foldable self‐inductance sensor. As a result, the origami module can be reconfigured to assemble multifunctional robots that can measure interaction force, body configuration, and other environmental information. Dedicated experiments are performed to validate the performance of the proposed origami module. An intelligent gripper assembled using three origami modules is designed with the capabilities of grasping mode adjustment, grasping force measurement, and the grasping target's size measurement. An intelligent jellyfish is assembled using five origami modules, and equipped with buoyancy adjustment and underwater grasping capabilities. The proposed proprioceptive modular soft origami provides an effective solution for versatile and intelligent soft robot design. |
| first_indexed | 2024-12-10T13:33:38Z |
| format | Article |
| id | doaj.art-691106e151e1403583c8002c9b3eca07 |
| institution | Directory Open Access Journal |
| issn | 2640-4567 |
| language | English |
| last_indexed | 2024-12-10T13:33:38Z |
| publishDate | 2022-09-01 |
| publisher | Wiley |
| record_format | Article |
| series | Advanced Intelligent Systems |
| spelling | doaj.art-691106e151e1403583c8002c9b3eca072022-12-22T01:46:53ZengWileyAdvanced Intelligent Systems2640-45672022-09-0149n/an/a10.1002/aisy.202200081Modular Origami Soft Robot with the Perception of Interaction Force and Body ConfigurationJunda Huang0Jianshu Zhou1Zhengyan Wang2Jones Law3Hanwen Cao4Yichuan Li5Hongbo Wang6Yunhui Liu7Department of Mechanical and Automation Engineering The Chinese University of Hong Kong HKCLR, 5-th floor, 17W, Hong Kong Science Park Hong Kong 999077 Hong Kong SARDepartment of Mechanical and Automation Engineering The Chinese University of Hong Kong HKCLR, 5-th floor, 17W, Hong Kong Science Park Hong Kong 999077 Hong Kong SARDepartment of Precision Machinery and Precision Instrumentation University of Science and Technology of China Rm.707, Mechanics Building V, West Campus, USTC, Huangshan Rd. 443 Hefei Anhui Province 230027 ChinaHong Kong Center for Logistics Robotics HKCLR, 5-th floor, 17W, Hong Kong Science Park Hong Kong 999077 Hong KongDepartment of Mechanical and Automation Engineering The Chinese University of Hong Kong HKCLR, 5-th floor, 17W, Hong Kong Science Park Hong Kong 999077 Hong Kong SARDepartment of Mechanical and Automation Engineering The Chinese University of Hong Kong HKCLR, 5-th floor, 17W, Hong Kong Science Park Hong Kong 999077 Hong Kong SARDepartment of Precision Machinery and Precision Instrumentation University of Science and Technology of China Rm.707, Mechanics Building V, West Campus, USTC, Huangshan Rd. 443 Hefei Anhui Province 230027 ChinaDepartment of Mechanical and Automation Engineering The Chinese University of Hong Kong HKCLR, 5-th floor, 17W, Hong Kong Science Park Hong Kong 999077 Hong Kong SARBio‐inspired soft robots provide a promising solution for robots working in human‐centered scenarios and interacting with unstructured environments. However, the functional versatility and multimodal sensing of soft robots still need improvements. On one hand, the configuration of a soft robot is predefined during manufacturing; on the other hand, the multimodal perception of the deformable soft actuator is challenging. In this work, a reconfigurable and proprioceptive soft origami module is presented, where two kinds of basic actuation modes (i.e., extension and bending) are realized, and multimodal perception is enabled using a novel foldable self‐inductance sensor. As a result, the origami module can be reconfigured to assemble multifunctional robots that can measure interaction force, body configuration, and other environmental information. Dedicated experiments are performed to validate the performance of the proposed origami module. An intelligent gripper assembled using three origami modules is designed with the capabilities of grasping mode adjustment, grasping force measurement, and the grasping target's size measurement. An intelligent jellyfish is assembled using five origami modules, and equipped with buoyancy adjustment and underwater grasping capabilities. The proposed proprioceptive modular soft origami provides an effective solution for versatile and intelligent soft robot design.https://doi.org/10.1002/aisy.202200081compliant manipulationinductive sensororigamiproprioceptionsoft robot |
| spellingShingle | Junda Huang Jianshu Zhou Zhengyan Wang Jones Law Hanwen Cao Yichuan Li Hongbo Wang Yunhui Liu Modular Origami Soft Robot with the Perception of Interaction Force and Body Configuration Advanced Intelligent Systems compliant manipulation inductive sensor origami proprioception soft robot |
| title | Modular Origami Soft Robot with the Perception of Interaction Force and Body Configuration |
| title_full | Modular Origami Soft Robot with the Perception of Interaction Force and Body Configuration |
| title_fullStr | Modular Origami Soft Robot with the Perception of Interaction Force and Body Configuration |
| title_full_unstemmed | Modular Origami Soft Robot with the Perception of Interaction Force and Body Configuration |
| title_short | Modular Origami Soft Robot with the Perception of Interaction Force and Body Configuration |
| title_sort | modular origami soft robot with the perception of interaction force and body configuration |
| topic | compliant manipulation inductive sensor origami proprioception soft robot |
| url | https://doi.org/10.1002/aisy.202200081 |
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