Design Summary with Thesis Draft 2
The article “This Soft Robotic Gripper Can Screw in Your Light Bulbs for You” (2017) introduces a revolutionary robotic arm and its features. Designed and built by the engineering team from the University of California San Diego, is a robotic gripper capable, but not limited to controlling the object it is handling. According to Michael T. Trolley, it is designed to emulate a biological hand. One of the main features was the ability to manipulate and model objects. Consisting of three fingers, each has a total of “three soft flexible pneumatic chambers”, making manipulation possible. The article also states that each finger is covered with a “smart, sensing skin” embedded with “conducting nanotube” sensors, which reacts to the change of conductivity caused by flexing of fingers, effectively generating data of the object it holds. The data generated is then passed to a control board where the 3D modelling of the object is done through the combination of 2D image slices.
One of the primary reasons why the soft robotic gripper is a unique invention is that it has the ability to craft a 3D model with just the raw data from the sensor data inputs.
With a similar approach of biological limbs as a primary design aspect, an octopus-inspired continuum arm is introduced in the article “Dynamic modelling and control of an octopus inspired multiple continuum arm robot (Kang, Branson, Guglielmino & Caldwell, 2012)”. Comprising of three elements, twisting, sensing and modelling presented as one, the octopus-inspired arm utilizes a total of “20 segments of parallel actuation”. This enables the continuum arms to achieve multiple degrees of freedom, making it “capable of generating archetypal locomotion patterns such as crawling and swimming”. With the ability to perform such complex motions, there would not be any issue achieving the ‘twisting and ‘sensing’ capabilities the soft robotic gripper possesses. While its complexity can be rivalled to the soft robotic gripper, it still lacks in one aspect which is the ability to craft a 3D model with just raw data from its sensor inputs.
Similarly to the octopus’ continuum arm design, an end effector from article titled “Humanoid Robot Hand and its Applied Research (Kawasaki & Tetsuya, 2018)”, is designed to be capable of replacing a human hand. The five fingered humanoid hand named “Gifu Hand III”, is driven by built-in servomotors which makes it capable of dexterous manipulation of objects. Comprising multiple joints with 16 DOF, manipulation of objects is made possible. Each finger also has built-in tactile and force sensors which aids in manipulating an object. The article also states that its grasping strategy, which is power and precision grasp, can handle and manipulate objects ranging from a tennis ball to a surgical knife. In conclusion, the ability to perform tasks with such precision, the “Gifu Hand III” would too, have effectively achieved the ‘twisting’ and ‘sensing’ capabilities the soft robotic gripper possess. Like the continuum arm mentioned earlier, this design lacks the ability to craft a 3D model too.
While both the octopus’ continuum arm and the “Gifu Hand III” have capabilities that are comparable to that of the soft robotic gripper, they still differ in one main aspect. The ability to craft a 3D model with the sensor data inputs. This concludes that the soft robotic gripper is still unique in the current world of robotics given that it has a unique function most end effectors lack.
One of the primary reasons why the soft robotic gripper is a unique invention is that it has the ability to craft a 3D model with just the raw data from the sensor data inputs.
With a similar approach of biological limbs as a primary design aspect, an octopus-inspired continuum arm is introduced in the article “Dynamic modelling and control of an octopus inspired multiple continuum arm robot (Kang, Branson, Guglielmino & Caldwell, 2012)”. Comprising of three elements, twisting, sensing and modelling presented as one, the octopus-inspired arm utilizes a total of “20 segments of parallel actuation”. This enables the continuum arms to achieve multiple degrees of freedom, making it “capable of generating archetypal locomotion patterns such as crawling and swimming”. With the ability to perform such complex motions, there would not be any issue achieving the ‘twisting and ‘sensing’ capabilities the soft robotic gripper possesses. While its complexity can be rivalled to the soft robotic gripper, it still lacks in one aspect which is the ability to craft a 3D model with just raw data from its sensor inputs.
Similarly to the octopus’ continuum arm design, an end effector from article titled “Humanoid Robot Hand and its Applied Research (Kawasaki & Tetsuya, 2018)”, is designed to be capable of replacing a human hand. The five fingered humanoid hand named “Gifu Hand III”, is driven by built-in servomotors which makes it capable of dexterous manipulation of objects. Comprising multiple joints with 16 DOF, manipulation of objects is made possible. Each finger also has built-in tactile and force sensors which aids in manipulating an object. The article also states that its grasping strategy, which is power and precision grasp, can handle and manipulate objects ranging from a tennis ball to a surgical knife. In conclusion, the ability to perform tasks with such precision, the “Gifu Hand III” would too, have effectively achieved the ‘twisting’ and ‘sensing’ capabilities the soft robotic gripper possess. Like the continuum arm mentioned earlier, this design lacks the ability to craft a 3D model too.
While both the octopus’ continuum arm and the “Gifu Hand III” have capabilities that are comparable to that of the soft robotic gripper, they still differ in one main aspect. The ability to craft a 3D model with the sensor data inputs. This concludes that the soft robotic gripper is still unique in the current world of robotics given that it has a unique function most end effectors lack.
References
Kang, R., Branson, D. T., Gulielmino, E., & Caldwell, D. G. (2012). Dynamic modelling and control of an octopus inspired multiple continuum arm robot . Computer & Mathematics with Applications, 64(5), 1004–1016. Retrieved from https://www.sciencedirect.com/science/article/pii/S0898122112002234
H.Kawasaki & T.Mouri (2019). Humanoid Robot Hand and its Applied Research. Journal of Robotics and Mechatronics. 31. 16-26. 10.20965/jrm.2019.p0016. Retrieved from https://www.researchgate.net/publication/331232366_Humanoid_Robot_Hand_and_its_Applied_Research
Kang, R., Branson, D. T., Gulielmino, E., & Caldwell, D. G. (2012). Dynamic modelling and control of an octopus inspired multiple continuum arm robot . Computer & Mathematics with Applications, 64(5), 1004–1016. Retrieved from https://www.sciencedirect.com/science/article/pii/S0898122112002234
H.Kawasaki & T.Mouri (2019). Humanoid Robot Hand and its Applied Research. Journal of Robotics and Mechatronics. 31. 16-26. 10.20965/jrm.2019.p0016. Retrieved from https://www.researchgate.net/publication/331232366_Humanoid_Robot_Hand_and_its_Applied_Research
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