Soft manipulator inspired by octopi: object grasping in all anatomical planes using a tendon-driven continuum arm
Soft manipulator inspired by octopi: object grasping in all anatomical planes using a tendon-driven continuum arm
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DOI：
10.1007/s10015-022-00844-w
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发表时间：
2022-12
影响因子：
0.9
通讯作者：
Klara Bezha;Kazuyuki Ito
中科院分区：
文献类型：
--
作者：
Klara Bezha;Kazuyuki Ito
在本文中，我们专注于开发一个软连续手臂机械手的启发，章鱼的形态和他们的智能行为。建议的手臂主要由软硅橡胶材料组成，提供高水平的手臂变形和运动灵活性。肌腱状的致动器串被并入臂内以产生运动。利用一个拉动机制的驱动字符串，手臂模仿章鱼的行为，执行五个不同的运动在所有三个身体平面：横向右和横向左运动的矢状面，腹侧和背侧运动的冠状面，和螺旋扭转运动的横向平面。所提出的软臂可以抓取，移动和提升各种硬软物体，而无需先前的感应或吸盘的使用，使其成为复杂环境中物体操作的强大的低复杂性工具。
In this paper, we focus on the development of a soft continuum arm manipulator inspired by the morphology of octopi and their intelligent behavior. The proposed arm is mainly composed of soft silicone rubber material, offering high levels of arm deformation and flexibility of movement. Tendon-like actuator strings are incorporated inside the arm to generate motion. Using a pulling mechanism of the actuating strings, the arm mimics octopi’s behavior by performing five different motions in all three body planes: lateral right and lateral left motion in the sagittal plane, ventral and dorsal motion in the coronal plane, and helical torsion motion in the transverse plane. The proposed soft arm can grasp, move, and lift various hard and soft objects, without previous sensing nor the usage of suction cups, making it a powerful low-complexity tool for object manipulation in complex environments.