In recent years,there has been extensive utilization of actuators driven by artificial muscles in wearable devices.However,the muscle distribution configurations of most wearable devices have been specifically designe...In recent years,there has been extensive utilization of actuators driven by artificial muscles in wearable devices.However,the muscle distribution configurations of most wearable devices have been specifically designed and are difficult to generalize.Consequently,wearable devices that allow direct installation of actuators onto existing clothing are better suited for a wider range of application scenarios.This letter presents the development and evaluation of Funabot-Suit,a human muscle configuration inspired wearable assist device that employs McKibben artificial muscles to induce natural kinesthetic perception in the wearer’s torso.By integrating thin McKibben muscles into an existing motion capture suit,the Funabot-Suit is capable of generating four fundamental motions:forward and backward bending,and left and right twisting.The suit’s performance was assessed through experiments involving three subjects who wore the suit while standing and seated,with the subjects reporting the direction of their kinesthetic perception.The subjects also rated the perceived ease of kinesthetic perception direction on a five-point scale.Our results demonstrate that the Funabot-Suit successfully induces kinesthetic perceptions for the wearer,with a one hundred percent detection ratio for accurate responses in the command direction across all subjects and positions.We observed variations in the sensitivity of left–right and up-down sensations,which can be attributed to the positioning of artificial muscles and individual differences.展开更多
This study presents an innovative approach in soft robotics,focusing on an inchworm-inspired robot designed for enhanced transport capabilities.We explore the impact of various parameters on the robot’s performance,i...This study presents an innovative approach in soft robotics,focusing on an inchworm-inspired robot designed for enhanced transport capabilities.We explore the impact of various parameters on the robot’s performance,including the number of activated sections,object size and material,supplied air pressure,and command execution rate.Through a series of controlled experiments,we demonstrate that the robot can achieve a maximum transportation speed of 8.54 mm/s and handle loads exceeding 100 g,significantly outperforming existing models in both speed and load capacity.Our findings provide valuable insights into the optimization of soft robotic design for improved efficiency and adaptability in transport tasks.This research not only contributes to the advancement of soft robotics but also opens new avenues for practical applications in areas requiring precise and efficient object manipulation.The study underscores the potential of biomimetic designs in robotics and sets a new benchmark for future developments in the field.展开更多
基金supported by JST Fusion Oriented REsearch for disruptive Science and Technology(FOREST)Program(JPMJFR216T)JST Moonshot R&D Program,Japan(JPMJMS2214-08).
文摘In recent years,there has been extensive utilization of actuators driven by artificial muscles in wearable devices.However,the muscle distribution configurations of most wearable devices have been specifically designed and are difficult to generalize.Consequently,wearable devices that allow direct installation of actuators onto existing clothing are better suited for a wider range of application scenarios.This letter presents the development and evaluation of Funabot-Suit,a human muscle configuration inspired wearable assist device that employs McKibben artificial muscles to induce natural kinesthetic perception in the wearer’s torso.By integrating thin McKibben muscles into an existing motion capture suit,the Funabot-Suit is capable of generating four fundamental motions:forward and backward bending,and left and right twisting.The suit’s performance was assessed through experiments involving three subjects who wore the suit while standing and seated,with the subjects reporting the direction of their kinesthetic perception.The subjects also rated the perceived ease of kinesthetic perception direction on a five-point scale.Our results demonstrate that the Funabot-Suit successfully induces kinesthetic perceptions for the wearer,with a one hundred percent detection ratio for accurate responses in the command direction across all subjects and positions.We observed variations in the sensitivity of left–right and up-down sensations,which can be attributed to the positioning of artificial muscles and individual differences.
基金This work was partly supported by the Nagoya University Interdisciplinary Frontier Fellowship and the DII Collaborative Graduate Program for Accelerating Innovation in Future Electronics,Nagoya University,Japan.
文摘This study presents an innovative approach in soft robotics,focusing on an inchworm-inspired robot designed for enhanced transport capabilities.We explore the impact of various parameters on the robot’s performance,including the number of activated sections,object size and material,supplied air pressure,and command execution rate.Through a series of controlled experiments,we demonstrate that the robot can achieve a maximum transportation speed of 8.54 mm/s and handle loads exceeding 100 g,significantly outperforming existing models in both speed and load capacity.Our findings provide valuable insights into the optimization of soft robotic design for improved efficiency and adaptability in transport tasks.This research not only contributes to the advancement of soft robotics but also opens new avenues for practical applications in areas requiring precise and efficient object manipulation.The study underscores the potential of biomimetic designs in robotics and sets a new benchmark for future developments in the field.
