Bone-Inspired Bending Soft Robot.

ABSTRACT: Bending soft robots must be structured and predictable to be used in applications such as a grasping hand. We developed soft robot fingers with embedded bones to improve the performance of a puppetry robot with haptic feedback. The manufacturing process for bone-inspired soft robots is described, and two mathematical models are reported: one to predict the stiffness and natural frequency of the robot finger and the other for trajectory planning. Experiments using different prototypes were used to set model parameters. The first model, which had a fourth-order lumped mass-spring-damper configuration, was able to predict the natural frequency of the soft robot with a maximum error of 18%. The model and the experimental data demonstrated that bone-inspired soft robots have higher natural freq

SUBMITTER: Hashemi S 

PROVIDER: S-EPMC8403216 | biostudies-literature | 2021 Aug

REPOSITORIES: biostudies-literature