An Anthropomorphic Musculoskeletal System with Soft Joint and Multifilament Pneumatic Artificial Muscles
Robotic manipulators are expected to enhance humans’ ability to grasp and manipulate objects. Soft materials offer innovative opportunities to develop robotic manipulators that are inherently compliant, physically robust, and interact safely with humans. Herein, a soft‐material‐based musculoskeletal...
| Main Authors: | , , , |
|---|---|
| Format: | Article |
| Language: | English |
| Published: |
Wiley
2022-10-01
|
| Series: | Advanced Intelligent Systems |
| Subjects: | |
| Online Access: | https://doi.org/10.1002/aisy.202200126 |
| _version_ | 1828220607612846080 |
|---|---|
| author | Zhonghan Lin Qi Shao Xin-Jun Liu Huichan Zhao |
| author_facet | Zhonghan Lin Qi Shao Xin-Jun Liu Huichan Zhao |
| author_sort | Zhonghan Lin |
| collection | DOAJ |
| description | Robotic manipulators are expected to enhance humans’ ability to grasp and manipulate objects. Soft materials offer innovative opportunities to develop robotic manipulators that are inherently compliant, physically robust, and interact safely with humans. Herein, a soft‐material‐based musculoskeletal module is reported. Inspired by the human shoulder complex, a lightweight and compact three‐degree‐of‐freedom (three‐DOF) membrane‐covered passive joint with a large range of motion (>180°) in all DOFs, small rotational resistance (<0.2 Nm), and large axial load‐bearing capacity (>80 N) benefiting from the hydrostatic stress of its filled liquid is developed. To actuate the joint, a helical‐structured pneumatic artificial muscle fiber (HPAMF) with a high energy density of 36 J kg−1 is designed. Moreover, it is investigated how to eliminate the Mullins effect of fibers made from silicone rubber to increase the repeatability and consistency between fibers and ensure the musculoskeletal system achieves stable motion by overcoming the snap‐through instability. Finally, the musculoskeletal system achieves open‐loop controlled three‐DOF motion with load‐bearing capacity in a compact space via pre‐stretching and antagonistic arrangement of 60 HPAMFs as 12 independent bundles. It is believed that the proposed musculoskeletal module can be assembled and developed as a soft manipulator to assist people in their activities of daily living. |
| first_indexed | 2024-04-12T16:29:24Z |
| format | Article |
| id | doaj.art-99b6f7a2382749d0bf2e155f0c4dc9e9 |
| institution | Directory Open Access Journal |
| issn | 2640-4567 |
| language | English |
| last_indexed | 2024-04-12T16:29:24Z |
| publishDate | 2022-10-01 |
| publisher | Wiley |
| record_format | Article |
| series | Advanced Intelligent Systems |
| spelling | doaj.art-99b6f7a2382749d0bf2e155f0c4dc9e92022-12-22T03:25:14ZengWileyAdvanced Intelligent Systems2640-45672022-10-01410n/an/a10.1002/aisy.202200126An Anthropomorphic Musculoskeletal System with Soft Joint and Multifilament Pneumatic Artificial MusclesZhonghan Lin0Qi Shao1Xin-Jun Liu2Huichan Zhao3Department of Mechanical Engineering Tsinghua University Beijing 100084 ChinaDepartment of Mechanical Engineering Tsinghua University Beijing 100084 ChinaDepartment of Mechanical Engineering Tsinghua University Beijing 100084 ChinaDepartment of Mechanical Engineering Tsinghua University Beijing 100084 ChinaRobotic manipulators are expected to enhance humans’ ability to grasp and manipulate objects. Soft materials offer innovative opportunities to develop robotic manipulators that are inherently compliant, physically robust, and interact safely with humans. Herein, a soft‐material‐based musculoskeletal module is reported. Inspired by the human shoulder complex, a lightweight and compact three‐degree‐of‐freedom (three‐DOF) membrane‐covered passive joint with a large range of motion (>180°) in all DOFs, small rotational resistance (<0.2 Nm), and large axial load‐bearing capacity (>80 N) benefiting from the hydrostatic stress of its filled liquid is developed. To actuate the joint, a helical‐structured pneumatic artificial muscle fiber (HPAMF) with a high energy density of 36 J kg−1 is designed. Moreover, it is investigated how to eliminate the Mullins effect of fibers made from silicone rubber to increase the repeatability and consistency between fibers and ensure the musculoskeletal system achieves stable motion by overcoming the snap‐through instability. Finally, the musculoskeletal system achieves open‐loop controlled three‐DOF motion with load‐bearing capacity in a compact space via pre‐stretching and antagonistic arrangement of 60 HPAMFs as 12 independent bundles. It is believed that the proposed musculoskeletal module can be assembled and developed as a soft manipulator to assist people in their activities of daily living.https://doi.org/10.1002/aisy.202200126multi-degree-of-freedom jointsmusculoskeletal systemspneumatic artificial musclesrobotic manipulatorssoft robotics |
| spellingShingle | Zhonghan Lin Qi Shao Xin-Jun Liu Huichan Zhao An Anthropomorphic Musculoskeletal System with Soft Joint and Multifilament Pneumatic Artificial Muscles Advanced Intelligent Systems multi-degree-of-freedom joints musculoskeletal systems pneumatic artificial muscles robotic manipulators soft robotics |
| title | An Anthropomorphic Musculoskeletal System with Soft Joint and Multifilament Pneumatic Artificial Muscles |
| title_full | An Anthropomorphic Musculoskeletal System with Soft Joint and Multifilament Pneumatic Artificial Muscles |
| title_fullStr | An Anthropomorphic Musculoskeletal System with Soft Joint and Multifilament Pneumatic Artificial Muscles |
| title_full_unstemmed | An Anthropomorphic Musculoskeletal System with Soft Joint and Multifilament Pneumatic Artificial Muscles |
| title_short | An Anthropomorphic Musculoskeletal System with Soft Joint and Multifilament Pneumatic Artificial Muscles |
| title_sort | anthropomorphic musculoskeletal system with soft joint and multifilament pneumatic artificial muscles |
| topic | multi-degree-of-freedom joints musculoskeletal systems pneumatic artificial muscles robotic manipulators soft robotics |
| url | https://doi.org/10.1002/aisy.202200126 |
| work_keys_str_mv | AT zhonghanlin ananthropomorphicmusculoskeletalsystemwithsoftjointandmultifilamentpneumaticartificialmuscles AT qishao ananthropomorphicmusculoskeletalsystemwithsoftjointandmultifilamentpneumaticartificialmuscles AT xinjunliu ananthropomorphicmusculoskeletalsystemwithsoftjointandmultifilamentpneumaticartificialmuscles AT huichanzhao ananthropomorphicmusculoskeletalsystemwithsoftjointandmultifilamentpneumaticartificialmuscles AT zhonghanlin anthropomorphicmusculoskeletalsystemwithsoftjointandmultifilamentpneumaticartificialmuscles AT qishao anthropomorphicmusculoskeletalsystemwithsoftjointandmultifilamentpneumaticartificialmuscles AT xinjunliu anthropomorphicmusculoskeletalsystemwithsoftjointandmultifilamentpneumaticartificialmuscles AT huichanzhao anthropomorphicmusculoskeletalsystemwithsoftjointandmultifilamentpneumaticartificialmuscles |