Dataset Information

A Bioinspired Stress-Response Strategy for High-Speed Soft Grippers.

ABSTRACT: The stress-response strategy is one of the nature's greatest developments, enabling animals and plants to respond quickly to environmental stimuli. One example is the stress-response strategy of the Venus flytrap, which enables such a delicate plant to perceive and prey on insects at an imperceptible speed by their soft terminal lobes. Here, inspired by this unique stress-response strategy, a soft gripper that aims at the challenges of high-speed dynamic grasping tasks is presented. The gripper, called high-speed soft gripper (HSG), is based on two basic design concepts. One is a snap-through instability that enables the HSG to sense the mechanical stimuli and actuating instantly. The other one is the spider-inspired pneumatic-powered control system that makes the trigger process repeatable and controllable. Utilizing the stress-response strategy, the HSG can accomplish high-speed sensing and grasping and handle a dynamic grasping task like catching a thrown baseball. Whereas soft machines typically exhibit slow locomotion speed and low manipulation strength for the intrinsic limitations of soft materials, the exploration of the stress-response strategy in this study can help pave the way for designing a new generation of practical high-speed soft robots.

SUBMITTER: Lin Y

PROVIDER: S-EPMC8564422 | biostudies-literature | 2021 Nov

REPOSITORIES: biostudies-literature

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A Bioinspired Stress-Response Strategy for High-Speed Soft Grippers.

Lin Yangqiao Y Zhang Chao C Tang Wei W Jiao Zhongdong Z Wang Jinrong J Wang Wei W Zhong Yiding Y Zhu Pingan P Hu Yu Y Yang Huayong H Zou Jun J

Advanced science (Weinheim, Baden-Wurttemberg, Germany) 20210902 21

The stress-response strategy is one of the nature's greatest developments, enabling animals and plants to respond quickly to environmental stimuli. One example is the stress-response strategy of the Venus flytrap, which enables such a delicate plant to perceive and prey on insects at an imperceptible speed by their soft terminal lobes. Here, inspired by this unique stress-response strategy, a soft gripper that aims at the challenges of high-speed dynamic grasping tasks is presented. The gripper, ...[more]

PMID: 34473423

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Project description:Untethered miniature robotics have recently shown promising results in several scenarios at the microscale, such as targeted drug delivery, microassembly, and biopsy procedures. However, the vast majority of these small-scale robots have very limited manipulation capabilities, and none of the steering systems currently available enable humans to intuitively and effectively control dexterous miniaturized robots in a remote environment. In this paper, we present an innovative micro teleoperation system with haptic assistance for the intuitive steering and control of miniaturized self-folding soft magnetic grippers in 2-D space. The soft grippers can be wirelessly positioned using weak magnetic fields and opened/closed by changing their temperature. An image-guided algorithm tracks the position of the controlled miniaturized gripper in the remote environment. A haptic interface provides the human operator with compelling haptic sensations about the interaction between the gripper and the environment, as well as enables the operator to intuitively control the target position and grasping configuration of the gripper. Finally, magnetic and thermal control systems regulate the position and grasping configuration of the gripper. The viability of the proposed approach is demonstrated through two experiments involving 26 human subjects. Providing haptic stimuli elicited statistically significant improvements in the performance of the considered navigation and micromanipulation tasks. Note to Practitioners-The ability to accurately and intuitively control the motion of miniaturized grippers in remote environments can open new exciting possibilities in the fields of minimally-invasive surgery, micromanipulation, biopsy, and drug delivery. This paper presents a micro teleoperation system with haptic assistance through which a clinician can easily control the motion and open/close capability of miniaturized wireless soft grippers. It introduces the underlying autonomous magnetic and thermal control systems, their interconnection with the master haptic interface, and an extensive evaluation in two real-world scenarios: following of a predetermined trajectory, and pick-and-place of a microscopic object.

Dataset Information

A Bioinspired Stress-Response Strategy for High-Speed Soft Grippers.

Publications

A Bioinspired Stress-Response Strategy for High-Speed Soft Grippers.

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