Skip to main content

Dynamic Response Characteristics in Variable Stiffness Soft Inflatable Links

  • Conference paper
  • First Online:
Towards Autonomous Robotic Systems (TAROS 2019)

Part of the book series: Lecture Notes in Computer Science ((LNAI,volume 11649))

Included in the following conference series:

Abstract

In soft robotics, there is the fundamental need to develop devices that are flexible and can change stiffness in order to work safely in the vicinity of humans. Moreover, these structures must be rigid enough to withstand the force application and accuracy in motion. To solve these issues, previous research proposed to add a compliance element between motor and load – Series Elastic Actuators (SEAs). This approach benefits from improved force control and shock tolerance due to the elasticity introduced at joint level. However, series compliance at the joint level comes at the cost of inferior position controllability and additional mechanical complexity. In this research, we move the elastic compliance to the link, and evaluate the characteristics of variable stiffness soft inflatable links. The detailed investigation of the dynamic behaviour of inflatable link takes into consideration different internal pressures and applied loads. Our results demonstrate that the use of soft inflatable links leads to good weight lifting capability whilst preserving compliance which is beneficial for safety critical applications.

This is a preview of subscription content, log in via an institution to check access.

Access this chapter

Chapter
USD 29.95
Price excludes VAT (USA)
  • Available as PDF
  • Read on any device
  • Instant download
  • Own it forever
eBook
USD 39.99
Price excludes VAT (USA)
  • Available as EPUB and PDF
  • Read on any device
  • Instant download
  • Own it forever
Softcover Book
USD 54.99
Price excludes VAT (USA)
  • Compact, lightweight edition
  • Dispatched in 3 to 5 business days
  • Free shipping worldwide - see info

Tax calculation will be finalised at checkout

Purchases are for personal use only

Institutional subscriptions

Similar content being viewed by others

References

  1. Siciliano, B., Khatib, O.: Handbook on Robotics. Springer, Heidelberg (2014)

    MATH  Google Scholar 

  2. Hogan, N.: Impedance control: an approach to manipulation: part III—applications. ASME. J. Dyn. Sys. Meas. Control. 107(1), 17–24 (1985). https://doi.org/10.1115/1.3140701

  3. Pratt, G., Williamson, M.: Series elastic actuators. In: Proceedings of the 1995 IEEE/RSJ International Conference Intelligent Robots and Systems Human Robot Interaction and Cooperative Robots, vol. 1, pp. 399–406 (1995)

    Google Scholar 

  4. Wolf, S., et al.: Variable stiffness actuators: review on design and components. IEEE/ASME Trans. Mechatron. 21, 2418–2430 (2016)

    Article  Google Scholar 

  5. Yang, C., Luo, J., Pan, Y., Liu, Z., Su, C.: Personalized variable gain control with tremor attenuation for robot teleoperation. IEEE Trans. Syst. Man Cybern.: Syst. 48(10), 1759–1770 (2018). https://doi.org/10.1109/TSMC.2017.2694020

  6. Colgate, J.E., Schenkel, G.G.: Passivity of a class of sampled-data systems: application to haptic interfaces. J. Robot. Syst. 14, 37–47 (1997)

    Article  Google Scholar 

  7. Yang, J., Pitarch, E.P., Potratz, J., Beck, S., Abdel-Malek, K.: Synthesis and analysis of a flexible elephant trunk robot”. Adv. Robot. 20, 631–659 (2006)

    Article  Google Scholar 

  8. Cieślak, R., Morecki, A.: Elephant trunk type elastic manipulator - a tool for bulk and liquid materials transportation. Robotica 17(1), 11–16 (1999)

    Article  Google Scholar 

  9. Laschi, C., Mazzolai, B., Mattoli, V., Cianchetti, M., Dario, P.: Design of a biomimetic robotic octopus arm. Bioinspir. Biomim. 4(1), 015006 (2009)

    Article  Google Scholar 

  10. Hirose, S.: Biologically inspired robots: snake-like locomotors and manipulators. Appl. Mech. Rev. 48(3), B27–B27 (1995)

    Google Scholar 

  11. Rollinson, D., et al.: Design and architecture of a series elastic snake robot. In: 2014 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2014, 14–18 September 2014, pp. 4630–4636 (2014)

    Google Scholar 

  12. Majidi, C.: Soft robotics: a perspective—current trends and prospects for the future. Soft Robot. 1, 5–11 (2014)

    Article  Google Scholar 

  13. Rus, D., Tolley, M.T.: Design, fabrication and control of soft robots. Nature 521, 467 (2015)

    Article  Google Scholar 

  14. Stilli, A., Grattarola, L., Feldmann, H., Wurdemann, H.A., Althoefer, K.: Variable stiffness link (VSL): toward inherently safe robotic manipulators. In: Proceedings - IEEE International Conference on Robotics and Automation (2017)

    Google Scholar 

  15. Stilli, A., Wurdemann, H.A., Althoefer, K.: A novel concept for safe, stiffness-controllable robot links. Soft Robot. 4, 16–22 (2017)

    Article  Google Scholar 

  16. Shiva, A., et al.: Tendon-based stiffening for a pneumatically actuated soft manipulator. IEEE Robot. Autom. Lett. 1(2), 632–637 (2016)

    Article  Google Scholar 

  17. Lipson, H.: Challenges and opportunities for design, simulation, and fabrication of soft robots. Soft Robot. 1(1), 21–27 (2014)

    Article  Google Scholar 

  18. Manti, M., Cacucciolo, V., Cianchetti, M.: Stiffening in soft robotics: a review of the state of the art. IEEE Robot. Autom. Mag. 23, 93–106 (2016)

    Article  Google Scholar 

  19. Blanc, L., Delchambre, A., Lambert, P.: Flexible medical devices: review of controllable stiffness solutions. In: Actuators (2017)

    Google Scholar 

  20. Atkin, P., Paula, J.: Physical Chemistry (2006)

    Google Scholar 

  21. Meirovitch, L.: Analytical Methods in Vibrations (1967)

    Google Scholar 

  22. Althoefer, K.: Neuro-fuzzy motion planning for robotic manipulators. Ph.D. thesis, King’s College, London (1997)

    Google Scholar 

Download references

Author information

Authors and Affiliations

Authors

Corresponding author

Correspondence to Jelizaveta Konstantinova .

Editor information

Editors and Affiliations

Rights and permissions

Reprints and permissions

Copyright information

© 2019 Springer Nature Switzerland AG

About this paper

Check for updates. Verify currency and authenticity via CrossMark

Cite this paper

Ali, A., Althoefer, K., Konstantinova, J. (2019). Dynamic Response Characteristics in Variable Stiffness Soft Inflatable Links. In: Althoefer, K., Konstantinova, J., Zhang, K. (eds) Towards Autonomous Robotic Systems. TAROS 2019. Lecture Notes in Computer Science(), vol 11649. Springer, Cham. https://doi.org/10.1007/978-3-030-23807-0_14

Download citation

  • DOI: https://doi.org/10.1007/978-3-030-23807-0_14

  • Published:

  • Publisher Name: Springer, Cham

  • Print ISBN: 978-3-030-23806-3

  • Online ISBN: 978-3-030-23807-0

  • eBook Packages: Computer ScienceComputer Science (R0)

Publish with us

Policies and ethics