Innovative soft robots based on electro-rheological fluids

IEEE International Conference on Intelligent Robots and Systems

Volumn , Issue , 2012, Pages 4237-4242

  Sadeghi, A ^a,b   Beccai, L ^b   Mazzolai, B ^b  

^a SCUOLA SUPERIORE SANT ANNA   (Italy)

^b Center for Micro BioRobotics at SSSA   (Italy)

Author keywords

[No Author keywords available]

Indexed keywords

ACTUATION FORCE; DESIGN AND DEVELOPMENT; ER FLUID; ER VALVE; FLUIDIC COMPONENTS; HYDRAULIC CIRCUITS; LOCOMOTION MECHANISM; POTENTIAL APPLICATIONS; SIMPLE STRUCTURES; SMART FLUIDS; SOFT COMPONENTS; SOFT ROBOT; TENDON DRIVEN;

ELECTRIC FIELDS; ELECTRORHEOLOGICAL FLUIDS; HYDRAULIC EQUIPMENT; HYDRAULIC MACHINERY; INTELLIGENT SYSTEMS; RHEOLOGY; ROBOTS;

MACHINE DESIGN;

EID: 84872355728     PISSN: 21530858     EISSN: 21530866     Source Type: Conference Proceeding    
DOI: 10.1109/IROS.2012.6385846     Document Type: Conference Paper

References (22)

1. D. Trivedi, C.D. Rahn, W.M. Kier, and I. D. Walker, "Soft robotics: Biological inspiration, state of the art, and future research," Applied Bionics and Biomechanics, 2008, 5(3): 99-117.
2. A. Albu-Schaffer, O. Eiberger, et al. "Soft robotics," Robotics & Automation Magazine, IEEE, 2008, 15(3): 20-30.
3. F. Ilievski, A.D. Mazzeo, R.F. Shepherd, X. Chen, and G.M. Whitesides, "Soft robotics for chemists." Angewandte Chemie 2011, 123(8): 1930-1935.
4. E. Brown, N. Rodenberg, et al. "Universal robotic gripper based on the jamming of granular material," Proceedings of the National Academy of Sciences, 2010, 107(44): 18809-18814.
5. M. Cianchetti, V. Mattoli, B. Mazzolai, C. Laschi, and P. Dario, "A new design methodology of electrostrictive actuators for bioinspired robotics." Sensors and Actuators B: Chemical, 2009, 142 (1) 288-297.
6. H. Block and J. Kelly "Electro-rheology," Journal of Physics D: Applied Physics, 1988, 21: 1661.
7. A. P. Gast, and C. F. Zukoski, "Electrorheological fluids as colloidal suspensions," Advances in Colloid and Interface Science, 1989, 30: 153-202.
8. N. Takesue, G. Zhang, J. Furusho, and M. Sakaguchi, "Precise Position Control of Robot Arms Using a Homogeneous ER Fluid," IEEE Control Systems Magazine, April 1999, pp. 55-61.
9. J. Furusho, G. Zhang and M. Sakaguchi, "Vibration suppression control of robot arms using a homogeneous-type electrorheological fluid," Robotics and Automation, 1997. Proceedings., 1997 IEEE International Conference on, vol.4, no., pp.3441-3448 vol.4, 20-25 Apr 1997
10. C. Pfeiffer, C. Mavroidis, Y. Bar-Cohen, and B. Dolgin, "Electrorheological fluid based force feedback device," Proceedings of the 1999 SPIE Telemanipulator and Telepresence Technologies VI Conference, 1999, Vol. 3840, pp. 88-99.
11. T. Nakamura, Y. Akamatsu, and Y. Kusaka, "Development of Soft Manipulator with Variable Rheological Joints and Pneumatic Sensor for Collision with Environment," Journal of Robotics and Mechatronics, 2008, 20(4): 634-640.
12. J. Nikitczuk, B. Weinberg and C. Mavroidis, "Control of electrorheological fluid based resistive torque elements for use in active rehabilitation devices," Smart Materials and Structures, 2007, 16: 418.
13. D. Chapuis, R. Gassert, E. Burdet and H. Bleuler, "A hybrid ultrasonic motor and electrorheological fluid clutch actuator for force-feedback in MRI/fMRI," Engineering in Medicine and Biology Society, 2008. EMBS 2008. 30th Annual International Conference of the IEEE, vol., no., pp.3438-3442, 20-25 Aug. 2008.
14. A. Khanicheh, D. Mintzopoulos, B. Weinberg, A.A. Tzika, and C. Mavroidis, "Evaluation of Electrorheological Fluid Dampers for Applications at 3-T MRI Environment," Mechatronics, IEEE/ASME Transactions on, 2008, 13(3): 286-294.
15. T. Kikuchi, Y. Jin, K. Fukushima, H. Akai and J. Furusho, "Study on development of active-passive rehabilitation system for upper limbs: Hybrid-PLEMO," 2009, IOP Publishing. J. Phys., vol. 149, no. 1, p. 012016, 2009.
16. S. Choi, D. Park, and M. Cho, "Position control of a parallel link manipulator using electro-rheological valve actuators," Mechatronics, 2001, 11(2): 157-181.
17. K. Yoshida, H. Yano, J. Park and S.Yokota, "A valve-integrated microactuator using homogeneous electro-rheological fluid," J. Robobtic Mechatron., vol.15, pp.244-250, 2003.
18. G.L. Kenaley and M.R., Cutkosky, "Electrorheological fluid-based robotic fingers with tactile sensing," Robotics and Automation, Proceedings. 1989 IEEE International Conference on Robotics and Automation, Scottsdale AR, 14-19 May 1989, pp.132-136 vol.1.
19. M. Gurka, D. Adams, L. Johnston, and R. Petricevic, "New electrorheological fuids - characteristics and implementation in industrial and mobile applications," Journal of Physics: Conference Series, vol. 149, p. 012008, 2009.
20. A.J. Simmonds,"Electro-rheological valves in a hydraulic circuit," Control Theory and Applications, IEE Proceedings D, vol.138, no.4, pp.400-404, Jul 1991.
21. W. H. Kuo, Y. C. Lin, T. N. Wu, J. Guo, Y. N. Chen, and Y. Shiao, "Study on the Controllable Characteristics of Electrorheological Valve Using Serial Multielectrode," Tamkang Journal of Science and Engineering, 2009, 12(3): 351-358.
22. J.D.Carlson, D.M.Catanzarite and K.A.St. Clair "Commercial magnetorheological fluid devices." International Journal of Modern Physics B 10(23): 2857-2866, 1996.