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Applied Sciences
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Design, Optimization and Performance Analysis of Soft Robots
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Design, Optimization and Performance Analysis of Soft Robots

A special issue of Applied Sciences (ISSN 2076-3417). This special issue belongs to the section "Robotics and Automation".

Deadline for manuscript submissions: 20 May 2024 | Viewed by 8648

Special Issue Editor

Prof. Dr. Kristin Payrebrune

E-Mail Website
Guest Editor
Lehrstuhl Computational Physics in Engineering, TU Kaiserslautern, 67663 Kaiserslautern, Germany
Interests: soft robotics; manufacturing process simulations

Special Issue Information

Dear Colleagues,

Soft robotic systems are the target of much research effort worldwide, not only showing their enormous potential in applications such as cooperative human assistance and use in unpredictable terrain, but also with the aim to make them fit for real-world use.

The goal of soft robotics is to transfer the basic principles of animal and human behavior to develop systems that can deal with unpredictable situations due to their biomimetic nature. One approach is the integration of sensors and actuators into the structure or the development of new learning algorithms to cope with such tasks. However, many challenges remain to be overcome to develop soft robots with specific capabilities and to predict their performance through numerical analysis. The challenges include exploiting the unconstrained deformability of soft actuators, formulating simulation methods to model highly deformable soft continua and their contact with the environment, controlling highly redundant systems, developing new actuation strategies, and developing optimization strategies and learning methods based on machine learning algorithms, to name but a few areas. These interdisciplinary tasks can only be mastered through an intensive exchange between different disciplines, bringing together scientists and applicants from different fields. 

This Special Issue aims to present the current state of research in the field of the design, experimental and numerical characterization, and optimization of soft robotics, to build a bridge between purely knowledge-based research and application.

Prof. Dr. Kristin Payrebrune
Guest Editor

Manuscript Submission Information

Manuscripts should be submitted online at www.mdpi.com by registering and logging in to this website. Once you are registered, click here to go to the submission form. Manuscripts can be submitted until the deadline. All submissions that pass pre-check are peer-reviewed. Accepted papers will be published continuously in the journal (as soon as accepted) and will be listed together on the special issue website. Research articles, review articles as well as short communications are invited. For planned papers, a title and short abstract (about 100 words) can be sent to the Editorial Office for announcement on this website.

Submitted manuscripts should not have been published previously, nor be under consideration for publication elsewhere (except conference proceedings papers). All manuscripts are thoroughly refereed through a single-blind peer-review process. A guide for authors and other relevant information for submission of manuscripts is available on the Instructions for Authors page. Applied Sciences is an international peer-reviewed open access semimonthly journal published by MDPI.

Please visit the Instructions for Authors page before submitting a manuscript. The Article Processing Charge (APC) for publication in this open access journal is 2400 CHF (Swiss Francs). Submitted papers should be well formatted and use good English. Authors may use MDPI's English editing service prior to publication or during author revisions.

Keywords

  • soft robotics
  • robot design and fabrication
  • optimization
  • experimental and numerical characterization
  • simulation and learning techniques

Published Papers (5 papers)

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Research

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40 pages, 1500 KiB  
Article
Soft, Rigid, and Hybrid Robotic Exoskeletons for Hand Rehabilitation: Roadmap with Impairment-Oriented Rationale for Devices Design and Selection
by Gabriele Maria Achilli, Cinzia Amici, Mihai Dragusanu, Massimiliano Gobbo, Silvia Logozzo, Monica Malvezzi, Monica Tiboni and Maria Cristina Valigi
Appl. Sci. 2023, 13(20), 11287; https://doi.org/10.3390/app132011287 - 14 Oct 2023
Cited by 2 | Viewed by 2087
Abstract
In recent decades, extensive attention has been paid to the study and development of robotic devices specifically designed for hand rehabilitation. Accordingly, a many concepts concerning rigid, soft, and hybrid types have emerged in the literature, with significant ongoing activity being directed towards [...] Read more.
In recent decades, extensive attention has been paid to the study and development of robotic devices specifically designed for hand rehabilitation. Accordingly, a many concepts concerning rigid, soft, and hybrid types have emerged in the literature, with significant ongoing activity being directed towards the development of new solutions. In this context, the paper focuses on the technical features of devices conceived for the robotic rehabilitation of the hand with reference to the three kinds of exoskeleton architecture and the clinical requirements demanded by the target impairment of the end-user. The work proposes a roadmap (i) for both the design and selection of exoskeletons for hand rehabilitation, (ii) to discriminate among the peculiarities of soft, rigid, and hybrid devices, and (iii) with an impairment-oriented rationale. The clinical requirements expected for an exoskeleton are identified by applying a PICO-inspired approach focused on the impairment analysis; the technical features are extracted from a proposed design process for exoskeletons combined with a narrative literature review. A cross-analysis between device families and features is presented to provide a supporting tool for both the design and selection of exoskeletons according to an impairment-oriented rationale. Full article
(This article belongs to the Special Issue Design, Optimization and Performance Analysis of Soft Robots)
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16 pages, 14662 KiB  
Article
A Novel and Practicable Approach for Determining the Beam Parameters of Soft Pneumatic Multi-Chamber Bending Actuators
by Frederik Lamping and Kristin M. de Payrebrune
Appl. Sci. 2023, 13(5), 2822; https://doi.org/10.3390/app13052822 - 22 Feb 2023
Cited by 1 | Viewed by 993
Abstract
The design of many pneumatic soft actuators is based on multiple chambers in parallel alignment. The Cosserat beam theory is an established technique for modeling this kind of actuator, where existing approaches mainly differ in the parameters being required for simulation. The modeling [...] Read more.
The design of many pneumatic soft actuators is based on multiple chambers in parallel alignment. The Cosserat beam theory is an established technique for modeling this kind of actuator, where existing approaches mainly differ in the parameters being required for simulation. The modeling approach presented in this study particularly aims at finding the beam parameters necessary for a simulation even with limited experimental methods. Importantly, it provides a straightforward relationship between the bending stiffness, the extensional stiffness and the axial stretch of the actuator. If the actuator to be modeled has an elementary design, axial measurements are sufficient to identify the parameters to perform three-dimensional simulations, which is of interest to adopters with limited testing equipment. The experimentally parameterized model of such an actuator of elementary design shows high accuracy. Both without load and with a weight of 1N applied to the tip, the mean error of the tip position in vertical orientation is less than 3.4% for a constant extensional stiffness and less than 2.7% for a pressure-dependent extensional stiffness. Further reduction of the error could be achieved by more refined identification techniques that decompose the complex interrelationship of pressurization, forces and material stiffness. Full article
(This article belongs to the Special Issue Design, Optimization and Performance Analysis of Soft Robots)
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15 pages, 3218 KiB  
Article
Flexible Design of the Connecting Plate in Pneumatic Soft Manipulators
by Hui Dong, Lei Yang, Jingyi Li, Hao Sun and Ligang Yao
Appl. Sci. 2022, 12(14), 7224; https://doi.org/10.3390/app12147224 - 18 Jul 2022
Cited by 1 | Viewed by 1462
Abstract
This paper presents a novel connecting plate for achieving a flexible connection in a soft manipulator. The main material used in the connecting plate is silicone, which functions similarly to the bionic oblique muscle (BOM) of an octopus arm and takes over the [...] Read more.
This paper presents a novel connecting plate for achieving a flexible connection in a soft manipulator. The main material used in the connecting plate is silicone, which functions similarly to the bionic oblique muscle (BOM) of an octopus arm and takes over the two actuator segments. Each segment of the actuator consists of three chambers, and the chambers are assembled with the connecting plate via bolts and loops to be a manipulator. By using a flexible plate instead of a rigid one, the manipulator achieves more dexterous movements. This paper establishes a nonlinear model for analyzing the shear and compression deformation of a silicone connecting plate. Additionally, finite element method was used to analyze the mechanical performance of the connecting plate. The deformation of a soft material can reduce the stress concentration during movement of the manipulator. Therefore, in the experiment, the BOM exhibited better motion performance compared with the rigid connection plate. Full article
(This article belongs to the Special Issue Design, Optimization and Performance Analysis of Soft Robots)
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18 pages, 8298 KiB  
Article
Towards an Extensive Thumb Assist: A Comparison between Whole-Finger and Modular Types of Soft Pneumatic Actuators
by Yuanyuan Wang, Shota Kokubu, Shaoying Huang, Ya-Hsin Hsueh and Wenwei Yu
Appl. Sci. 2022, 12(8), 3735; https://doi.org/10.3390/app12083735 - 07 Apr 2022
Cited by 1 | Viewed by 1777
Abstract
Soft pneumatic actuators used in robotic rehabilitation gloves are classified into two types: whole-finger actuators with air chambers that cover the entire finger and modular actuators with chambers only above the finger joints. Most existing prototypes provide enough finger flexion support, but insufficient [...] Read more.
Soft pneumatic actuators used in robotic rehabilitation gloves are classified into two types: whole-finger actuators with air chambers that cover the entire finger and modular actuators with chambers only above the finger joints. Most existing prototypes provide enough finger flexion support, but insufficient independent thumb abduction or opposition support. Even the latest modular soft actuator realized thumb abduction with a sacrifice of range of motion (RoM). Moreover, the advantages and disadvantages of using the two types of soft actuators for thumb assistance have not been made clear. Without an efficient thumb assist, patients’ options for hand function rehabilitation are very limited. Therefore, the objective of this study was to design a modular actuator (M-ACT) that could support multiple degrees of freedom, compare it with a whole-finger type of thumb actuator with three inner chambers (3C-ACT) in terms of the RoM, force output of thumb flexion, and abduction, and use an enhanced Kapandji test to measure both the kinematic aspect of the thumb (Kapandji score) and thumb-tip pinch force. Our results indicated superior single-DoF support capability of the M-ACT and superior multi-DoF support capability of the 3C-ACT. The use of the 3C-ACT as the thumb actuator and the M-ACT as the four-finger actuator may be the optimal solution for the soft robotic glove. This study will aid in the progression of soft robotic gloves for hand rehabilitation towards real rehabilitation practice. Full article
(This article belongs to the Special Issue Design, Optimization and Performance Analysis of Soft Robots)
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13 pages, 23355 KiB  
Technical Note
Reducing Actuators in Soft Continuum Robots and Manipulators
by Mohamed Shoani, Mohamed Najib Ribuan, Ahmad Athif Mohd Faudzi and Shahrol Mohamaddan
Appl. Sci. 2023, 13(1), 462; https://doi.org/10.3390/app13010462 - 29 Dec 2022
Cited by 1 | Viewed by 1288
Abstract
Soft continuum robots and manipulators (SCRaMs) are elongated structures that can be used in many applications, such as exploration, inspection, and minimally invasive surgery. Multi-segment SCRaMs employ numerous actuators to perform their tasks. The large number of actuators increases the cost and complexity [...] Read more.
Soft continuum robots and manipulators (SCRaMs) are elongated structures that can be used in many applications, such as exploration, inspection, and minimally invasive surgery. Multi-segment SCRaMs employ numerous actuators to perform their tasks. The large number of actuators increases the cost and complexity of a SCRaM and reduces its reliability. In this paper, a methodology is presented to reduce the number of actuators employed by SCRaMs while maintaining their volumetric workspace. The method presents a new design approach involving one rotary and two linear actuators, providing three degrees of freedom (DOF) and a volumetric workspace. The result of applying the transformation is a 50–86% reduction in the total number of actuators typically employed by multi-segment SCRaMs. The application of this methodology reduces the cost and complexity of conventional multi-segment SCRaMs while improving their efficiency and reliability. Full article
(This article belongs to the Special Issue Design, Optimization and Performance Analysis of Soft Robots)
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