Abstract
An innovative material-based model is described for a three-pneumatic channel, soft robot actuator and implemented in simulations and control. Two types of material models are investigated: a soft, hyperelastic material model and a novel visco-hyperelastic material model are presented and evaluated in simulations of one-channel operation. The advanced visco-hyperelastic model is further demonstrated in control under multi-channel actuation. Finally, a soft linear elastic material model was used in finite element analysis of the soft three-pneumatic channel actuator within SOFA, moving inside a pipe and interacting with its rigid wall or with a soft hemispherical object attached to that wall. A collision model was used for these interactions and the simulations yielded “virtual haptic” 3d-force profiles at monitored nodes at the free- and fixed-end of the actuator.
This is a preview of subscription content, log in via an institution to check access.
Access this chapter
Tax calculation will be finalised at checkout
Purchases are for personal use only
References
Jones, B., Walker, I.: Kinematics for multisection continuum robots. IEEE Trans. Robot. 22(1), 43–55 (2006)
Jones, B.A.: Practical kinematics for real-time implementation of continuum robots. IEEE Trans. Robot. 22(6), 1087–1099 (2006)
Bailly, Y., Amirat, Y., Fried, G.: Modeling and control of a continuum style microrobot for endovascular surgery. IEEE Trans. Robot. 27(5), 1024–1030 (2011)
Marchese, A.D., Rus, D.: Design, kinematics, and control of a soft spatial fluidic elastomer manipulator. Int. J. Robot. Res. 35(7), 840–869 (2016)
Chirikjian, G.S.: Conformational modeling of continuum structures in robotics and structural biology: a review. Adv. Robot. 29(13), 817–829 (2015)
Jung, J., Penning, R.S., Ferrier, N.J., Zinn, M.R.: A modeling approach for continuum robotic manipulators: effects of nonlinear internal device friction. In: Proceedings 2011 IEEE/RSJ International Conference Intelligent Robots and Systems, pp. 5139–5146. IEEE, San Francisco (2011)
Khajehsaeid, H., Arghavani, J., Naghdabadi, R.: A hyperelastic constitutive model for rubber-like materials. Eur. J. Mech. A. Solids 38, 144–151 (2013)
Elsayed, Y., Vincensi, A., Lekakou, C., Geng, T., Saaj, C.M., Ranzani, T., Cianchetti, M., Menciassi, A.: Finite element analysis and design optimization of a pneumatically actuating silicone module for robotic surgery applications. Soft Robot. 1(4), 255–262 (2014)
Fraś, J., Czarnowski, J., Maciaś, M., Główka, J., Cianchetti, M., Menciassi, A.: New stiff-flop module construction idea for improved actuation and sensing. In: 2015 IEEE International Conference on Proceedings Robotics and Automation (ICRA), pp. 2901–2906. IEEE, Seattle (2015)
Webster III, R.J., Jones, B.A.: Design and kinematic modelling of constant curvature continuum robots: a review. Int. J. Rob. Res. 29(13), 1661–1683 (2010)
Siciliano, B., Khatib, O. (eds.): Springer Handbook of Robotics, 2nd edn. Springer, Switzerland (2008)
Martins, P.A.L.S.: Natal Jorge, R.M., Ferreira, A.J.M.: A comparative study of several material models for prediction of hyperelastic properties: application to silicone-rubber and soft tissues. Strain 42(3), 135–147 (2006)
Faure, F., Duriez, C., Delingette, H., Allard, J., Gilles, B., Marchesseau, S., Talbot, H., Courtecuisse, H., Bousquet, G., Peterlik, I., Cotin. S.: SOFA: a multi-model framework for interactive physical simulation. In: Soft Tissue Biomechanical Modeling for Computer Assisted Surgery. Studies in Mechanobiology, Tissue Engineering and Biomaterials, vol. 11, pp. 283–321. Springer, Heidelberg (2012). doi:10.1007/8415_2012_125
Author information
Authors and Affiliations
Corresponding author
Editor information
Editors and Affiliations
Rights and permissions
Copyright information
© 2017 Springer International Publishing AG
About this paper
Cite this paper
Lekakou, C., Mustaza, S.M., Crisp, T., Elsayed, Y., Saaj, C.M. (2017). A Material-Based Model for the Simulation and Control of Soft Robot Actuator. In: Gao, Y., Fallah, S., Jin, Y., Lekakou, C. (eds) Towards Autonomous Robotic Systems. TAROS 2017. Lecture Notes in Computer Science(), vol 10454. Springer, Cham. https://doi.org/10.1007/978-3-319-64107-2_45
Download citation
DOI: https://doi.org/10.1007/978-3-319-64107-2_45
Published:
Publisher Name: Springer, Cham
Print ISBN: 978-3-319-64106-5
Online ISBN: 978-3-319-64107-2
eBook Packages: Computer ScienceComputer Science (R0)