Nothing Special   »   [go: up one dir, main page]
Skip to main content
Springer Nature Link
Log in

Reinforced bidirectional artificial muscles: enhancing force and stability for soft robotics

  • Original Research Paper
  • Published:
Intelligent Service Robotics Aims and scope Submit manuscript

Abstract

Soft robotics has gained significant interest due to its resemblance to soft organic bodies, enabling direct human interaction. Soft actuators are a crucial component of these soft robots as they enable their motion. This work introduces a comprehensive investigation and experimental results of a reinforced bidirectional artificial muscles (Rbi-AMs) design. In addition to the well-known bellow actuator, we propose the integration of inner and external rings to enhance performance and enable bidirectional operation by using their pressurization or vacuum. To evaluate the performance of these designs, we connected the reinforced bidirectional pneumatic-driven artificial muscles to a tensile testing machine and compared their pulling and pushing forces. Their deformation was also assessed when subjected to varying payloads under pressurization or vacuum. Results indicate that the design with an inner ring outperforms others, achieving a pushing force of 50 N and a strain of 150.54% at 40 kPa, as well as a pulling force of 24 N and a contraction ratio of 49.90% at −40 kPa. To assess applicability, we conducted a robustness evaluation, with the actuators demonstrating durability and readiness for real-life applications after 250 cycles in both directions. The proposed designs exhibit excellent force, strain, and robustness compared to current research in the field. Furthermore, we present a modular system and gripper demonstration, where the actuators collectively create a multi-DOF robotic joint and a gripper that can adapt its grasping range to accommodate objects of varying shapes, sizes, and weight.

This is a preview of subscription content, log in via an institution to check access.

Access this article

Log in via an institution

Subscribe and save

Springer+ Basic
$34.99 /Month
  • Get 10 units per month
  • Download Article/Chapter or eBook
  • 1 Unit = 1 Article or 1 Chapter
  • Cancel anytime
Subscribe now

Buy Now

Price excludes VAT (USA)
Tax calculation will be finalised during checkout.

Instant access to the full article PDF.

Institutional subscriptions

Fig. 1
Fig. 2
Fig. 3
Fig. 4
Fig. 5
Fig. 6
Fig. 7

Similar content being viewed by others

Explore related subjects

Discover the latest articles, news and stories from top researchers in related subjects.

References

  1. Wirtz J et al (2018) Brave new world: service robots in the frontline. J Serv Manag 29(5):907–931. https://doi.org/10.1108/JOSM-04-2018-0119

    Article  Google Scholar 

  2. Trivedi D, Rahn CD, Kier WM, Walker ID (2008) Soft robotics: Biological inspiration, state of the art, and future research. Appl Bionics Biomech 5(3):99–117. https://doi.org/10.1080/11762320802557865

    Article  Google Scholar 

  3. Rus D, Tolley MT (2015) Design, fabrication and control of soft robots. Nature 521(7553):467–475. https://doi.org/10.1038/nature14543

    Article  Google Scholar 

  4. Li M, Pal A, Aghakhani A, Pena-Francesch A, Sitti M (2022) Soft actuators for real-world applications. Nat Rev Mater 7(3):235–249. https://doi.org/10.1038/s41578-021-00389-7

    Article  Google Scholar 

  5. Oh N, Lee JG, Rodrigue H (2023) Torsional pneumatic actuator based on pre-twisted pneumatic tubes for soft robotic manipulators. IEEE/ASME Trans Mechatron PP:1–11. https://doi.org/10.1109/TMECH.2023.3262235

    Article  Google Scholar 

  6. Boyraz P, Runge G, Raatz A (2018) An overview of novel actuators for soft robotics. High-Throughput 7(3):1–21. https://doi.org/10.3390/act7030048

    Article  Google Scholar 

  7. Coutinho A, Park JH, Jamil B, Choi HR, Rodrigue H (2023) Hyperbaric vacuum-based artificial muscles for high-performance actuation. Adv Intell Syst 5(1):2200090. https://doi.org/10.1002/aisy.202200090

    Article  Google Scholar 

  8. Lian OC, Keong CK, Nishimura T, Jae-Yeol K (2020) Form-finding of spine inspired biotensegrity model. Appl Sci 10(18):1–19. https://doi.org/10.3390/APP10186344

    Article  Google Scholar 

  9. Coutinho A, Rodrigue H (2023) Fluidic hardware strategies for powering combined negative- and positive-pressure artificial muscles. Adv Eng Mater 2300071:1–9. https://doi.org/10.1002/adem.202300071

    Article  Google Scholar 

  10. Horchler AD et al (2015) Worm-like robotic locomotion with a compliant modular mesh. Lect Notes Comput Sci 9222:26–37. https://doi.org/10.1007/978-3-319-22979-9_3

    Article  Google Scholar 

  11. Katzschmann RK, DelPreto J, MacCurdy R, Rus D (2018) Exploration of underwater life with an acoustically controlled soft robotic fish. Sci Robot 3(16):1–13. https://doi.org/10.1126/SCIROBOTICS.AAR3449

    Article  Google Scholar 

  12. Maccurdy R, Katzschmann R, Kim Y, Rus D (2016) Printable hydraulics: a method for fabricating robots by 3D co-printing solids and liquids. Proc IEEE Int Conf Robot Autom, vol. 2016-June, pp 3878–3885. https://doi.org/10.1109/ICRA.2016.7487576

  13. Hilby K, Padia V, Hunter I (2022) Design and analysis of origami-inspired, large-elongation, reconfigurable soft robot modules. In: 2022 IEEE 5th Int Conf Soft Robot RoboSoft 2022, pp 132–139. https://doi.org/10.1109/RoboSoft54090.2022.9762124

  14. Lee H, Rodrigue H (2023) Harnessing the nonlinear properties of buckling inflatable tubes for complex robotic behaviors. Mater Today 63(March):59–88. https://doi.org/10.1016/j.mattod.2023.02.005

    Article  Google Scholar 

  15. Jamil B, Oh N, Lee JG, Lee H, Rodrigue H (2023) A review and comparison of linear pneumatic artificial muscles. Int J Precis Eng Manuf Green Technol. https://doi.org/10.1007/s40684-023-00531-6

    Article  Google Scholar 

  16. Drotman D, Ishida M, Jadhav S, Tolley MT (2019) Application-driven design of soft, 3-d printed, pneumatic actuators with bellows. IEEE/ASME Trans Mechatron 24(1):78–87. https://doi.org/10.1109/TMECH.2018.2879299

    Article  Google Scholar 

  17. Mosadegh B et al (2014) Pneumatic networks for soft robotics that actuate rapidly. Adv Funct Mater 24(15):2163–2170. https://doi.org/10.1002/adfm.201303288

    Article  Google Scholar 

  18. Polygerinos P, Wang Z, Galloway KC, Wood RJ, Walsh CJ (2015) Soft robotic glove for combined assistance and at-home rehabilitation. Rob Auton Syst 73:135–143. https://doi.org/10.1016/j.robot.2014.08.014

    Article  Google Scholar 

  19. Takashima K, Sugitani K, Morimoto N, Sakaguchi S, Noritsugu T, Mukai T (2014) Pneumatic artificial rubber muscle using shape-memory polymer sheet with embedded electrical heating wire. Smart Mater Struct. https://doi.org/10.1088/0964-1726/23/12/125005

    Article  Google Scholar 

  20. Wang T, Ge L, Gu G (2018) Programmable design of soft pneu-net actuators with oblique chambers can generate coupled bending and twisting motions. Sensors Actuators A Phys 271:131–138. https://doi.org/10.1016/j.sna.2018.01.018

    Article  Google Scholar 

  21. Boxerbaum AS, Shaw KM, Chiel HJ, Quinn RD (2012) Continuous wave peristaltic motion in a robot. Int J Rob Res 31(3):302–318. https://doi.org/10.1177/0278364911432486

    Article  Google Scholar 

  22. Schaffner M, Faber JA, Pianegonda L, Rühs PA, Coulter F, Studart AR (2018) 3D printing of robotic soft actuators with programmable bioinspired architectures. Nat Commun. https://doi.org/10.1038/s41467-018-03216-w

    Article  Google Scholar 

  23. Wang Z et al (2021) A soft robotic hand based on bellows actuators for dishwashing automation. IEEE Robot Autom Lett 6(2):2139–2146. https://doi.org/10.1109/LRA.2021.3061063

    Article  Google Scholar 

  24. Balak R, Mazumdar YC (2020) Multi-modal pneumatic actuator for twisting, extension, and bending. IEEE Int Conf Intell Robot Syst 2020:8673–8679. https://doi.org/10.1109/IROS45743.2020.9341555

    Article  Google Scholar 

  25. Belforte G, Eula G, Ivanov A, Visan AL (2014) Bellows textile muscle. J Text Inst 105(3):356–364. https://doi.org/10.1080/00405000.2013.840414

    Article  Google Scholar 

  26. Dämmer G, Gablenz S, Hildebrandt A, Major Z (2019) PolyJet-printed bellows actuators: design, structural optimization, and experimental investigation. Front Robot AI 6(MAY):1–10. https://doi.org/10.3389/frobt.2019.00034

    Article  Google Scholar 

  27. Galloway KC et al (2016) Soft robotic grippers for biological sampling on deep reefs. Soft Robot 3(1):23–33. https://doi.org/10.1089/soro.2015.0019

    Article  MathSciNet  Google Scholar 

  28. Cao M, Sun Y, Zhang J, Ying Z (2023) A novel pneumatic gripper driven by combination of soft fingers and bellows actuator for flexible grasping. Sensors Actuators A Phys. 355:114335. https://doi.org/10.1016/j.sna.2023.114335

    Article  Google Scholar 

  29. Navas E, Fernández R, Armada M, Gonzalez-De-santos P (2021) Diaphragm-type pneumatic-driven soft grippers for precision harvesting. Agronomy. https://doi.org/10.3390/agronomy11091727

    Article  Google Scholar 

  30. Digumarti KM, Conn AT, Rossiter J (2017) Euglenoid-inspired giant shape change for highly deformable soft robots. IEEE Robot Autom Lett 2(4):2302–2307. https://doi.org/10.1109/LRA.2017.2726113

    Article  Google Scholar 

  31. Ma H, Zhou J (2023) Modeling, characterization, and application of soft bellows-type pneumatic actuators for bionic locomotion. Acta Mech Solida Sin 36(1):1–12. https://doi.org/10.1007/s10338-022-00346-z

    Article  Google Scholar 

  32. Udupa G, Sreedharan P, Dinesh PS, Kim D (2014) Asymmetric bellow flexible pneumatic actuator for miniature robotic soft gripper. J Robot. https://doi.org/10.1155/2014/902625

    Article  Google Scholar 

  33. Higueras-Ruiz DR, Shafer MW, Feigenbaum HP (2021) Cavatappi artificial muscles from drawing, twisting, and coiling polymer tubes. Sci Robot. https://doi.org/10.1126/SCIROBOTICS.ABD5383

    Article  Google Scholar 

  34. Joe S, Totaro M, Wang H, Beccai L (2021) Development of the ultralight hybrid pneumatic artificial muscle: modelling and optimization. PLoS ONE 16(4):1–21. https://doi.org/10.1371/journal.pone.0250325

    Article  Google Scholar 

  35. Lee JG, Rodrigue H (2019) Origami-based vacuum pneumatic artificial muscles with large contraction ratios. Soft Robot 6(1):109–117. https://doi.org/10.1089/soro.2018.0063

    Article  Google Scholar 

  36. Jiao Z et al (2022) Lightweight dual-mode soft actuator fabricated from bellows and foam material. Actuators. https://doi.org/10.3390/act11090245

    Article  Google Scholar 

  37. Usevitch NS, Okamura AM, Hawkes EW (2018) APAM: antagonistic pneumatic artificial muscle. Proc IEEE Int Conf Robot Autom, pp 1539–1546. https://doi.org/10.1109/ICRA.2018.8460881

  38. Tanaka J, Ogawa A, Nakamoto H, Sonoura T, Eto H (2020) Suction pad unit using a bellows pneumatic actuator as a support mechanism for an end effector of depalletizing robots. ROBOMECH J. https://doi.org/10.1186/s40648-019-0151-0

    Article  Google Scholar 

  39. Dämmer G, Gablenz S, Hildebrandt A, Major Z (2019) Design of an additively manufacturable multi-material light-weight gripper with integrated bellows actuators. Adv Sci Technol Eng Syst 4(2):23–33. https://doi.org/10.25046/aj040204

    Article  Google Scholar 

Download references

Acknowledgements

This work was supported by the National Research Foundation of Korea (NRF) grant funded by the Korea government (Ministry of Science, ICT & Future Planning) (No. RS-2023-00207772 and No. 2021R1A2C4001792).

Author information

Authors and Affiliations

  1. School of Mechanical Engineering, Sungkyunkwan University, Suwon, 16419, Republic of Korea

    Altair Coutinho, Sarang Kim & Hugo Rodrigue

Authors
  1. Altair Coutinho
    View author publications

    You can also search for this author in PubMed Google Scholar

  2. Sarang Kim
    View author publications

    You can also search for this author in PubMed Google Scholar

  3. Hugo Rodrigue
    View author publications

    You can also search for this author in PubMed Google Scholar

Corresponding author

Correspondence to Hugo Rodrigue.

Ethics declarations

Conflict of interest

The authors declare no conflict of interest.

Additional information

Publisher's Note

Springer Nature remains neutral with regard to jurisdictional claims in published maps and institutional affiliations.

Supplementary Information

Below is the link to the electronic supplementary material.

Supplementary file1 (MP4 21562 KB)

Supplementary file2 (MP4 113838 KB)

Rights and permissions

Springer Nature or its licensor (e.g. a society or other partner) holds exclusive rights to this article under a publishing agreement with the author(s) or other rightsholder(s); author self-archiving of the accepted manuscript version of this article is solely governed by the terms of such publishing agreement and applicable law.

Reprints and permissions

About this article

Check for updates. Verify currency and authenticity via CrossMark

Cite this article

Coutinho, A., Kim, S. & Rodrigue, H. Reinforced bidirectional artificial muscles: enhancing force and stability for soft robotics. Intel Serv Robotics 17, 55–66 (2024). https://doi.org/10.1007/s11370-023-00487-1

Download citation

  • Received:

  • Accepted:

  • Published:

  • Issue Date:

  • DOI: https://doi.org/10.1007/s11370-023-00487-1

Keywords

Search

Navigation