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Design and Fabrication of a Soft Robotic Manipulator Driven by Fiber-Reinforced Actuators
Wang Y.; Xu Q.
2018-10-11
Conference Name2018 IEEE International Conference on Mechatronics, Robotics and Automation (ICMRA)
Source Publication2018 IEEE International Conference on Mechatronics, Robotics and Automation, ICMRA 2018
Pages157-161
Conference Date18-21 May 2018
Conference PlaceHefei, China
Abstract

This paper presents the design and implementation of a four-fingered soft robotic manipulator. Each finger is driven by a fiber-reinforced actuator. Unlike the traditional rigid robotic manipulators, the soft manipulator exhibits the advantage of high adaptability for grasping the objects of various shapes. A prototype is fabricated for experimental testing. Four bending sensors are integrated into the soft manipulator to provide the deformation feedback. A PID feedback control is realized to regulate the grasp force of the manipulator. Experimental results demonstrate the effectiveness of the developed soft robotic manipulator, which can grasp objects with different shapes and sizes.

KeywordBending Sensors Feedback Control Fiber-reinforced Actuators Soft Robots
DOI10.1109/ICMRA.2018.8490539
URLView the original
Indexed BySCI
WOS Research AreaAutomation & Control Systems ; Robotics
WOS SubjectAutomation & Control Systems ; Robotics
WOS IDWOS:000448064800030
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Citation statistics
Cited Times [WOS]:1   [WOS Record]     [Related Records in WOS]
Document TypeConference paper
CollectionDEPARTMENT OF ELECTROMECHANICAL ENGINEERING
AffiliationUniversidade de Macau
Recommended Citation
GB/T 7714
Wang Y.,Xu Q.. Design and Fabrication of a Soft Robotic Manipulator Driven by Fiber-Reinforced Actuators[C],2018:157-161.
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