Residential College | false |
Status | 已發表Published |
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 Name | 20th IEEE International Conference on Automation Science and Engineering, CASE 2024 |
Source Publication | IEEE International Conference on Automation Science and Engineering
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Pages | 1477-1482 |
Conference Date | 28 August 2024 - 1 September 2024 |
Conference Place | Bari |
Country | Italy |
Publisher | IEEE 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. |
Keyword | Surface Morphology Soft Robotics Robot Sensing Systems |
DOI | 10.1109/CASE59546.2024.10711359 |
URL | View the original |
Language | 英語English |
Scopus ID | 2-s2.0-85208249493 |
Fulltext Access | |
Citation statistics | |
Document Type | Conference paper |
Collection | Faculty of Science and Technology DEPARTMENT OF ELECTROMECHANICAL ENGINEERING |
Corresponding Author | Xu, Qingsong |
Affiliation | University of Macau, Faculty of Science and Technology, Department of Electromechanical Engineering, Taipa, Avenida da Universidade, Macao |
First Author Affilication | Faculty of Science and Technology |
Corresponding Author Affilication | Faculty 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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