Publicaties
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Toward Motor-Unit-Recruitment Actuators for Soft Robotics Vrije Universiteit Brussel
Among the many features of muscles, their softness,
(the ability to deform to accommodate uncertainty in
the environment), and their ability to continue functioning
despite disturbances, even partial damage, are qualities one
would desire to see in robotic actuators. These properties
are intimately related to the manner in which muscles work
since they arise from the progressive recruitment of many
...
(the ability to deform to accommodate uncertainty in
the environment), and their ability to continue functioning
despite disturbances, even partial damage, are qualities one
would desire to see in robotic actuators. These properties
are intimately related to the manner in which muscles work
since they arise from the progressive recruitment of many
...
SMA Wire Use in Hybrid Twisting and Bending/Extending Soft Fiber-Reinforced Actuators Vrije Universiteit Brussel
Soft fiber-reinforced actuators have demonstrated significant potential across various robotics applications. However, the actuation motion in these actuators is typically limited to a single type of motion behavior, such as bending, extending, and twisting. Additionally, a combination of bending with twisting and extending with twisting can occur in fiber-reinforced actuators. This paper presents two novel hybrid actuators in which shape memory ...
Elastic Inflatable Actuators for Soft Robotic Applications KU Leuven
The 20th century’s robotic systems have been made out of stiff materials and much of the developments in the field have pursued ever more accurate and dynamic robots which thrive in industrial automation settings and will probably continue to do so for many decades to come. However, the 21st century’s robotic legacy may very well become that of soft robots. This emerging domain is characterized by continuous soft structures that simultaneously ...
Hardware Sequencing of Inflatable Nonlinear Actuators for Autonomous Soft Robots KU Leuven
Soft robots are an interesting alternative for classic rigid robots in applications requiring interaction with organisms or delicate objects. Elastic inflatable actuators are one of the preferred actuation mechanisms for soft robots since they are intrinsically safe and soft. However, these pneumatic actuators each require a dedicated pressure supply and valve to drive and control their actuation sequence. Because of the relatively large size of ...
Morphological Control of Cilia-Inspired Asymmetric Movements Using Nonlinear Soft Inflatable Actuators KU Leuven
Soft robotic systems typically follow conventional control schemes, where actuators are supplied with dedicated inputs that are regulated through software. However, in recent years an alternative trend is being explored, where the control architecture can be simplified by harnessing the passive mechanical characteristics of the soft robotic system. This approach is named “morphological control”, and it can be used to decrease the number of ...
Learning physics-informed simulation models for soft robotic manipulation: A case study with dielectric elastomer actuators Interuniversitair Micro-Electronica Centrum vzw
Soft actuators offer a safe, adaptable approach to tasks like gentle grasping and dexterous manipulation. Creating accurate models to control such systems however is challenging due to the complex physics of deformable materials. Accurate Finite Element Method (FEM) models incur prohibitive computational complexity for closed-loop use. Using a differentiable simulator is an attractive alternative, but their applicability to soft actuators and ...
Elastic inflatable soft actuators for electrochemical machining on internal surfaces of metallic workpieces KU Leuven
Soft actuators exhibit high mechanical compliance allowing a variety of deformation modes. This property makes them interesting candidates for force-free micromachining processes such as electrochemical machining (ECM) and electro-discharge machining (EDM). ECMin particular has high potential to utilize soft actuators as a tool as this process does not involve machining forces and is absent of tool wear. In this paper, the design and development ...
Nonlinear Inflatable Actuators for Distributed Control in Soft Robots KU Leuven
As soft robotic systems grow in complexity and functionality, the size and stiffness of the needed control hardware severely limits their application potential. Alternatively, functionality can be embodied within actuator characteristics, drastically reducing the amount of peripherals. Functions such as memory, computation, and energy storage then result from the intrinsic mechanical behavior of precisely designed structures. Here, actuators are ...
Experimental Characterization of Flexible and Soft Actuators for Rehabilitation and Assistive Devices Vrije Universiteit Brussel
Robotic devices applied to a rehabilitation context require a deeper understanding of their actuators to delimit the device’s capabilities, improve the control strategies, and enhance the human–robot interaction. This way, experimental characterizations have allowed estimating these aspects, either employing test bench structures or involving the user during the process. In terms of pneumatic actuators, the goal of the experimental ...