Soft Origami Optical-Sensing Actuator for Underwater Manipulation.

ABSTRACT: Soft robots are ideal for underwater manipulation in sampling and other servicing applications. Their unique features of compliance, adaptability, and being naturally waterproof enable robotic designs to be compact and lightweight, while achieving uncompromized dexterity and flexibility. However, the inherent flexibility and high nonlinearity of soft materials also results in combined complex motions, which creates both soft actuator and sensor challenges for force output, modeling, and sensory feedback, especially under highly dynamic underwater environments. To tackle these limitations, a novel Soft Origami Optical-Sensing Actuator (SOSA) with actuation and sensing integration is proposed in this paper. Inspired by origami art, the proposed sensorized actuator enables a large force outpu

SUBMITTER: Shen Z 

PROVIDER: S-EPMC7988097 | biostudies-literature | 2020

REPOSITORIES: biostudies-literature