Soft pads for robotic limbs: achieving human finger compliance via finite element optimization

被引：0
|
作者：
Kargar, Seyyed Masoud [1 ]
Berselli, Giovanni [1 ,2 ]
机构：
[1] Department of Mechanical, Energy, Management and Transportation Engineering (DIME), University of Genova, Genoa, Italy
[2] Advanced Robotics Department (ADVR), Fondazione Istituto Italiano di Tecnologia (IIT), Genoa, Italy
来源：
International Journal of Advanced Manufacturing Technology | 1600年 / 133卷 / 11-12期
关键词：
Human fingers possess compliant contact interfaces with predetermined compliance properties. Replicating these compliance properties in robotic limbs; particularly anthropomorphic hands; can significantly impact grasp stability and contact area. To address the limitations of homogeneous layers of soft material commonly used in anthropomorphic hands; this paper proposes optimizing differentiated structures to design soft pads; which consist of a continuous external layer (skin) coupled with an internal layer featuring voids. To achieve the desired compliance properties replicating those of human fingers; the paper introduces five distinct patterns for differentiated structures; along with their corresponding finite element analysis (FEA) models. Subsequently; by formulating an appropriate optimization function; the shapes of these patterns have been optimized to match the compliance of the human finger; and it has been demonstrated that one of the proposed and optimized pads closely approximates this target through the proposed methodology. The results affirm that this approach offers an effective solution for designing soft pads whose behavior needs to be aligned with the compliance of a specific target. © The Author(s) 2024;
D O I：
暂无
中图分类号：
学科分类号：
摘要：
Journal article (JA)
引用
收藏
页码：5705 / 5714
相关论文
共 50 条
  • [31] Soft Robot Optimal Control Via Reduced Order Finite Element Models
    Tonkens, Sander
    Lorenzett, Joseph
    Pavone, Marco
    2021 IEEE INTERNATIONAL CONFERENCE ON ROBOTICS AND AUTOMATION (ICRA 2021), 2021, : 12010 - 12016
  • [32] A Finite Element Analysis and Circui Modelling Methodology for Studying Electrical Impedance Myography of Human Limbs
    Schrunder, Alejandro Fernandez
    Rodriguez, Saul
    Rusu, Ana
    IEEE TRANSACTIONS ON BIOMEDICAL ENGINEERING, 2022, 69 (01) : 244 - 255
  • [33] Finite element model updating via automatic optimization of physical parameters
    Sun, Ling-Yu
    Yu, Chun-Sheng
    Zhang, Bing-Jun
    Chen, Nan
    Sun, Qing-Hong
    Proceedings of the International Modal Analysis Conference - IMAC, 2000, 2 : 1544 - 1548
  • [34] Finite element model updating via automatic optimization of physical parameters
    Sun, LY
    Yu, CS
    Zhang, BJ
    Chen, N
    Sun, QH
    IMAC-XVIII: A CONFERENCE ON STRUCTURAL DYNAMICS, VOLS 1 AND 2, PROCEEDINGS, 2000, 4062 : 1544 - 1548
  • [35] A QUASI-STATIC MODEL FOR STUDYING PHYSICAL INTERACTION BETWEEN A SOFT ROBOTIC DIGIT AND A HUMAN FINGER
    Haghshenas-Jaryani, Mahdi
    Wijesundra, Muthu B. J.
    PROCEEDINGS OF THE ASME INTERNATIONAL DESIGN ENGINEERING TECHNICAL CONFERENCES AND COMPUTERS AND INFORMATION IN ENGINEERING CONFERENCE, 2018, VOL 5A, 2018,
  • [36] Enhancing wet surface adhesion in walking robots: finite element-based analysis and morphology-changeable soft pads
    Dang Nguyen, Duy
    Phuong Dam, Nam
    Anh Ho, Van
    ADVANCED ROBOTICS, 2024, 38 (08) : 508 - 524
  • [37] Design parameter optimization of beam foundation on soft soil layer with nonlinear finite element
    Wei Hong-wei
    Wu Ya-zhong
    Yu Ze-hong
    JOURNAL OF CENTRAL SOUTH UNIVERSITY, 2012, 19 (06) : 1753 - 1763
  • [38] Design parameter optimization of beam foundation on soft soil layer with nonlinear finite element
    Hong-wei Wei
    Ya-zhong Wu
    Ze-hong Yu
    Journal of Central South University, 2012, 19 : 1753 - 1763
  • [39] Design parameter optimization of beam foundation on soft soil layer with nonlinear finite element
    魏红卫
    吴亚中
    喻泽红
    Journal of Central South University, 2012, 19 (06) : 1753 - 1763
  • [40] Finite Element Analysis and Design Optimization of a Pneumatically Actuating Silicone Module for Robotic Surgery Applications
    Elsayed, Yahya
    Vincensi, Augusto
    Lekakou, Constantina
    Geng, Tao
    Saaj, C. M.
    Ranzani, Tommaso
    Cianchetti, Matteo
    Menciassi, Arianna
    SOFT ROBOTICS, 2014, 1 (04) : 255 - 262
12345