Octopuses,due to their flexible arms,marvelous adaptability,and powerful suckers,are able to effortlessly grasp and disengage various objects in the marine surrounding without causing devastation.However,manipulating ...Octopuses,due to their flexible arms,marvelous adaptability,and powerful suckers,are able to effortlessly grasp and disengage various objects in the marine surrounding without causing devastation.However,manipulating delicate objects such as soft and fragile foods underwater require gentle contact and stable adhesion,which poses a serious challenge to now available soft grippers.Inspired by the sucker infundibulum structure and flexible tentacles of octopus,herein we developed a hydraulically actuated hydrogel soft gripper with adaptive maneuverability by coupling multiple hydrogen bond-mediated supramolecular hydrogels and vat polymerization three-dimensional printing,in which hydrogel bionic sucker is composed of a tunable curvature membrane,a negative pressure cavity,and a pneumatic chamber.The design of the sucker structure with the alterable curvature membrane is conducive to realize the reliable and gentle switchable adhesion of the hydrogel soft gripper.As a proof-of-concept,the adaptive hydrogel soft gripper is capable of implement diversified underwater tasks,including gingerly grasping fragile foods like egg yolks and tofu,as well as underwater robots and vehicles that station-keeping and crawling based on switchable adhesion.This study therefore provides a transformative strategy for the design of novel soft grippers that will render promising utilities for underwater exploration soft robotics.展开更多
Soft grippers research is gaining increasing attention for their flexibility.However,the conventional soft gripper primar-ily focuses on soft fingers,without considering the palm.This makes grasping forces concentrate...Soft grippers research is gaining increasing attention for their flexibility.However,the conventional soft gripper primar-ily focuses on soft fingers,without considering the palm.This makes grasping forces concentrated in the fingertip areas,resulting in objects being prone to damage and instability during handling,especially for delicate items.Additionally,pre-transportation classification faces challenges:tactile methods are complex,visual methods are environment-sensitive,and both struggle with similar objects.To address these problems,inspired by the human hand's transition between finger grasp and palm support and the lotus's hierarchical structure,this paper proposes a dual-layer gripper,named IOSGrip-per.It features four pneumatic soft fingers and a rotational soft-rigid palm.Through coordinated control of the fingers and palm,it transitions concentrated fingertip squeeze force to distributed palm support force,reducing squeeze force and squeeze duration.Moreover,it integrates a range sensor and four load cells,enabling stable and accurate measurements of the object's height and weight.Furthermore,a classifier is developed based on K-nearest neighbor algorithm,allowing real-time object classification.Experiments demonstrate that compared to only using soft fingers,the IOSGripper signifi-cantly reduces the squeeze force on the objects(with 0 N squeeze force during palm support)and damage on the delicate object,while improving grasping stability.Its height and weight measurement errors are within 2 mm and 1 g,respectively.And it achieves high accuracy in three test scenarios,including classifying similar objects.This study provides useful insights for the design of soft grippers capable of human-like grasping and sorting tasks.展开更多
Aimed at the problems of grippers struggling to adapt to irregular shapes and having insufficient grasping ability,reported here is a smart trapezoidal skin based on trapezoidal interlocking and magnetorheological sti...Aimed at the problems of grippers struggling to adapt to irregular shapes and having insufficient grasping ability,reported here is a smart trapezoidal skin based on trapezoidal interlocking and magnetorheological stiffness.The skin has upper and lower trapezoidal interlocking structures made from a magnetorheological elastomer,and its internal cavity is filled with magnetorheological grease.During the grasping process,the elastomer trapezoidal structural units provide better support and interlocking,while the magnetorheological grease realizes rapid stiffness adjustment under a magnetic field.This design offers good adaptability to irregular shapes as well as enhanced grasping capability via trapezoidal interlocking and magnetically variable stiffness.Furthermore,introducing a liquid-metal resistive sensing layer enables the skin to detect the slip state of the object,and the magnetic field generated by an electromagnet controlled by a microcontroller increases the skin stiffness and improves the grasping performance.As reported here,the support and interlocking of trapezoidal structures and the magnetovariable stiffness of magnetorheological materials are used comprehensively to provide a new reference for the design of variable-stiffness grippers.展开更多
A study about the action control of a dexterous mechanical gripper based on stereo-vision system was proposed. The vision-based system was used to replace the data-glove for gesture measurement. The stereo vision theo...A study about the action control of a dexterous mechanical gripper based on stereo-vision system was proposed. The vision-based system was used to replace the data-glove for gesture measurement. The stereo vision theory was applied to calculate the 3D information of the hand gesture. The information was used to generate the grasping action parameters of a 3-finger dexterous mechanical gripper. Combined with a force feedback device, a closed control loop could be constructed. The test for the precision of the algorithms and action control simulation result were shown in the paper.展开更多
基金the financial support from the Strategic Priority Research Program of the Chinese Academy of Sciences (XDB0470303)the National Key Research and Development Program of China (2022YFB4600101)+5 种基金the National Natural Science Foundation of China (52175201)the Research Program of Science and Technology Department of Gansu Province (24JRRA059, 24JRRA044, and 24YFFA014)the Science Fund of Shandong Laboratory of Advanced Materials and Green Manufacturing at Yantai (AMGM2024F12)the Major Program (ZYFZFX-2) of the Lanzhou Institute of Chemical Physics, CASthe Special Research Assistant Project of the Chinese Academy of Sciencesthe Oasis Scholar of Shihezi University
文摘Octopuses,due to their flexible arms,marvelous adaptability,and powerful suckers,are able to effortlessly grasp and disengage various objects in the marine surrounding without causing devastation.However,manipulating delicate objects such as soft and fragile foods underwater require gentle contact and stable adhesion,which poses a serious challenge to now available soft grippers.Inspired by the sucker infundibulum structure and flexible tentacles of octopus,herein we developed a hydraulically actuated hydrogel soft gripper with adaptive maneuverability by coupling multiple hydrogen bond-mediated supramolecular hydrogels and vat polymerization three-dimensional printing,in which hydrogel bionic sucker is composed of a tunable curvature membrane,a negative pressure cavity,and a pneumatic chamber.The design of the sucker structure with the alterable curvature membrane is conducive to realize the reliable and gentle switchable adhesion of the hydrogel soft gripper.As a proof-of-concept,the adaptive hydrogel soft gripper is capable of implement diversified underwater tasks,including gingerly grasping fragile foods like egg yolks and tofu,as well as underwater robots and vehicles that station-keeping and crawling based on switchable adhesion.This study therefore provides a transformative strategy for the design of novel soft grippers that will render promising utilities for underwater exploration soft robotics.
基金the Major research program of national natural science foundation of China(91848206).
文摘Soft grippers research is gaining increasing attention for their flexibility.However,the conventional soft gripper primar-ily focuses on soft fingers,without considering the palm.This makes grasping forces concentrated in the fingertip areas,resulting in objects being prone to damage and instability during handling,especially for delicate items.Additionally,pre-transportation classification faces challenges:tactile methods are complex,visual methods are environment-sensitive,and both struggle with similar objects.To address these problems,inspired by the human hand's transition between finger grasp and palm support and the lotus's hierarchical structure,this paper proposes a dual-layer gripper,named IOSGrip-per.It features four pneumatic soft fingers and a rotational soft-rigid palm.Through coordinated control of the fingers and palm,it transitions concentrated fingertip squeeze force to distributed palm support force,reducing squeeze force and squeeze duration.Moreover,it integrates a range sensor and four load cells,enabling stable and accurate measurements of the object's height and weight.Furthermore,a classifier is developed based on K-nearest neighbor algorithm,allowing real-time object classification.Experiments demonstrate that compared to only using soft fingers,the IOSGripper signifi-cantly reduces the squeeze force on the objects(with 0 N squeeze force during palm support)and damage on the delicate object,while improving grasping stability.Its height and weight measurement errors are within 2 mm and 1 g,respectively.And it achieves high accuracy in three test scenarios,including classifying similar objects.This study provides useful insights for the design of soft grippers capable of human-like grasping and sorting tasks.
基金supported by the National Natural Science Foundation of China(Grant No.52075264).
文摘Aimed at the problems of grippers struggling to adapt to irregular shapes and having insufficient grasping ability,reported here is a smart trapezoidal skin based on trapezoidal interlocking and magnetorheological stiffness.The skin has upper and lower trapezoidal interlocking structures made from a magnetorheological elastomer,and its internal cavity is filled with magnetorheological grease.During the grasping process,the elastomer trapezoidal structural units provide better support and interlocking,while the magnetorheological grease realizes rapid stiffness adjustment under a magnetic field.This design offers good adaptability to irregular shapes as well as enhanced grasping capability via trapezoidal interlocking and magnetically variable stiffness.Furthermore,introducing a liquid-metal resistive sensing layer enables the skin to detect the slip state of the object,and the magnetic field generated by an electromagnet controlled by a microcontroller increases the skin stiffness and improves the grasping performance.As reported here,the support and interlocking of trapezoidal structures and the magnetovariable stiffness of magnetorheological materials are used comprehensively to provide a new reference for the design of variable-stiffness grippers.
文摘A study about the action control of a dexterous mechanical gripper based on stereo-vision system was proposed. The vision-based system was used to replace the data-glove for gesture measurement. The stereo vision theory was applied to calculate the 3D information of the hand gesture. The information was used to generate the grasping action parameters of a 3-finger dexterous mechanical gripper. Combined with a force feedback device, a closed control loop could be constructed. The test for the precision of the algorithms and action control simulation result were shown in the paper.
