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Design of a Multiple Cilia Inspired Active Entanglement Soft Gripper for Adaptable and Stable Grasping
Yan, Yukang; Xu, Zichen; Wang, Xianli; Xu, Qingsong
2024
Conference Name20th IEEE International Conference on Automation Science and Engineering, CASE 2024
Source PublicationIEEE International Conference on Automation Science and Engineering
Pages1477-1482
Conference Date28 August 2024 - 1 September 2024
Conference PlaceBari
CountryItaly
PublisherIEEE Computer Society
Abstract

Grasping is profound for achieving robotic functionalities in various assignments. However, when confronted with fragile objects with complex topological structures, it is challenging to realize efficient, adaptable, and stable grasping and avoid potential damage. Here, inspired by a natural multiple cilia structure, we propose an active entanglement soft gripper design. Exploiting the intrinsic shape changes of rubber hoses with a diameter of 2 mm, several (8 to 12) hoses can actively bend and wind together. The controlled shape changes are enabled by drawing thin strings inside the hoses that are fixed to the end of the hose. Such a flexible and multiple cilia-like actuation demonstrates attractive morphologically conforming to various objects. Without prior perception and sensing information, the proposed gripper naturally entangles designated objects by drawing the strings. Several experiments were conducted to verify the effectiveness and advantages of the proposed design. It has an almost 100% success rate of grasping objects of different sizes, structures, and masses. Overall, we demonstrate a unique design strategy, offering a novel paradigm that exploits physical ingenuity to promote soft robotic functionalities.

KeywordSurface Morphology Soft Robotics Robot Sensing Systems
DOI10.1109/CASE59546.2024.10711359
URLView the original
Language英語English
Scopus ID2-s2.0-85208249493
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Citation statistics
Document TypeConference paper
CollectionFaculty of Science and Technology
DEPARTMENT OF ELECTROMECHANICAL ENGINEERING
Corresponding AuthorXu, Qingsong
AffiliationUniversity of Macau, Faculty of Science and Technology, Department of Electromechanical Engineering, Taipa, Avenida da Universidade, Macao
First Author AffilicationFaculty of Science and Technology
Corresponding Author AffilicationFaculty of Science and Technology
Recommended Citation
GB/T 7714
Yan, Yukang,Xu, Zichen,Wang, Xianli,et al. Design of a Multiple Cilia Inspired Active Entanglement Soft Gripper for Adaptable and Stable Grasping[C]:IEEE Computer Society, 2024, 1477-1482.
APA Yan, Yukang., Xu, Zichen., Wang, Xianli., & Xu, Qingsong (2024). Design of a Multiple Cilia Inspired Active Entanglement Soft Gripper for Adaptable and Stable Grasping. IEEE International Conference on Automation Science and Engineering, 1477-1482.
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