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Rod-based Fabrication of Customizable Soft Robotic Pneumatic Gripper Devices for Delicate Tissue Manipulation

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Published on: August 2, 2016

Electro-Thermopneumatically Actuated, Adhesion-Force Controllable Octopus-Like Suction Cup Actuator.

Yong Il Kim¹, Siwung Kim², Seongdong Kim²

¹Department of Mechanical and Industrial Engineering, University of Illinois at Chicago, Chicago, Illinois, USA.

|April 1, 2024

Summary

This study introduces a novel soft robotic actuator inspired by octopuses, utilizing an electro-thermopneumatic system for surface attachment. This lightweight device enhances physical strength for individuals with mobility impairments.

Keywords:

acetabulum electro-thermopneumatic octopus soft actuator suction cup

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Area of Science:

Robotics
Biomimetics
Materials Science

Background:

Soft robotic actuators offer versatile applications in human assistance.
Octopus-inspired designs provide unique biomimetic approaches to adhesion.
Existing assistive devices often lack adaptability and lightweight properties.

Purpose of the Study:

To develop a lightweight, octopus-inspired soft robotic actuator.
To utilize an electro-thermopneumatic mechanism for controlled surface attachment and detachment.
To create an assistive device for individuals with reduced physical strength.

Main Methods:

Manufacturing a suction cup from elastomer material.
Actuating the suction cup using an electro-thermopneumatic system.
Quantifying adhesion force through numerical simulations and experimental verification.

Main Results:

Demonstrated a functional soft robotic actuator mimicking octopus acetabular muscle.
Successfully regulated adhesion force by controlling inner air pressure and cup elasticity.
Validated actuator capabilities through grip-assisting glove and prosthetic attacher prototypes.

Conclusions:

The developed actuator shows promise as an assistive device for enhancing physical strength.
The electro-thermopneumatic mechanism provides effective control over adhesion for soft robots.
Biomimetic design principles can lead to innovative solutions for assistive technology.