Transient Motions and Static Poses in Soft, Viscous-Driven Actuators

Rafael Gottlieb, Atilla Daniel Ramazan Osan, Mattieu Zhai, Yoav Matia, Kirstin Petersen

Research output: Chapter in Book/Report/Conference proceedingConference contributionpeer-review

Abstract

In this paper we further studies of viscous-driven fluidic elastomer actuators. Specifically, the one we investigate here consists of simple elastomer bellows connected in series by slender tubes and arranged in two columns around a neutral plane. The slender tubes and wide bellows configuration result in advective-diffusive flow, which causes non-uniform pressure distributions throughout the actuator and, as a consequence, complex transient 2D deformations that depends only on the shape of the input pressure profile, rather than multiple pressure sources and/or valves. We extend upon previous work by demonstrating and modeling a three-finger 'manipulator' capable of stabilizing a computer mouse and operating its scroll wheel. This demonstration illustrates the interplay between in-put pressure gradients and motion output, and additionally how a single valve can further enable stationary poses throughout the workspace of the actuator. To further illustrate how the motion is affected by the input pressure gradients, we perform a frequency sweep using our model. This type of embodied control matches well the infinite passive degrees of freedom afforded by the soft material, and holds great promise for future applications in soft robotics.

Original languageAmerican English
Title of host publication2024 IEEE 7th International Conference on Soft Robotics, RoboSoft 2024
Pages467-472
Number of pages6
ISBN (Electronic)9798350381818
DOIs
StatePublished - 1 Jan 2024
Event7th IEEE International Conference on Soft Robotics, RoboSoft 2024 - San Diego, United States
Duration: 14 Apr 202417 Apr 2024

Publication series

Name2024 IEEE 7th International Conference on Soft Robotics, RoboSoft 2024

Conference

Conference7th IEEE International Conference on Soft Robotics, RoboSoft 2024
Country/TerritoryUnited States
CitySan Diego
Period14/04/2417/04/24

All Science Journal Classification (ASJC) codes

  • Artificial Intelligence
  • Computer Vision and Pattern Recognition
  • Materials Science (miscellaneous)
  • Control and Optimization
  • Modelling and Simulation
  • Instrumentation

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