Name: rod-based fabrication of customizable soft robotic pneumatic gripper devices for delicate tissue manipulation
Uploaded: 2016-08-02T13:00:00.000+00:00
Duration: 7 min 49 s
Description: Watch this Scientific Journal Video about Rod-based Fabrication of Customizable Soft Robotic Pneumatic Gripper Devices for Delicate Tissue Manipulation at JoVE.com

这项研究是由R-397-000-204-133（新加坡青年科学家奖国立大学）的支持。

<html>注意:所有的软气动夹持器被铸造基于硅氧烷的弹性体的混合物到定制3D印刷模具，其随后的制造过程包括三个步骤制造:成型带嵌入气动通道夹持器臂组件，模制连接到气动通道室元件以及密封填充有空气的腔室部件。 1.弹性体的制备<ol><li>放置在秤为混合器的容器和去皮它。倾部分A和在用1容器中的基于硅氧烷的弹性体的A:1的重量比。 </li><li>覆盖容器和测量的总重量。 </li><li>放置在容器和材料成离心混合器。调整在混频器的重量平衡，以在步骤1.2测量的体重。 </li><li>设置在混合和脱气模式，以2000转2200转分别为30秒。混合弹性体组分充分达到均匀的固化。 </li></ol>乐"&gt; 2，模具设计与制作注意:在模具的几何形状将根据不同的应用的具体要求而变化。下面的步骤说明所必需的制造的模具的腔室和夹持器部件中的CAD软件的一般的关键步骤。 <ol><li>设计采用计算机辅助设计（CAD）软件的模具和封模。参见图1为在本手稿中使用的模具的几何形状和特定的尺寸。 <ol><li>外边界框的设计<ol><li>顶部平面右键单击，然后点击"正常到"按钮正常化顶端平面。 </li><li>点击左上角的"素描"，打开一个"素描"窗口。然后，点击工具栏的左上角的"草图"按钮，绘制室组成的矩形底座。 </li><li>点击"智能尺寸"功能，它位于"草图"按钮旁边，以定义SK蚀刻尺寸。确保草图已经完全定义（ 即所有的画线变成黑色），并在完成后退出草图。 </li><li>点击"功能"窗口。然后，点击"拉伸凸台/基地"功能，在挤出Y方向选择的轮廓。 </li><li>点击模型的顶部表面上预选草图平面。绘制一个矩形，并作为2.1.1.2 2.1.1.3和描述定义尺寸。 </li><li>点击"功能"窗口。然后，点击"拉伸切除"功能来削减挤压铸造弹性体（ 图2A）的腔体。确保壁厚为2.5毫米。 </li></ol></li><li>内腔室的设计<ol><li>在开口面积的Y方向的表面上单击鼠标右键。然后，点击"普通至"正常化到表面。 </li><li>接下来，点击"素描"窗口中绘制室组成一个矩形作为步骤2.1.1.2和描述2.1.1.3。 </li><li>点击"功能"窗口。然后，点击"拉伸凸台/基地"功能，在挤出Y方向（ 图2B）室元件。 注意:在步骤2.1.1.6切口的深度比该挤出基的2.5毫米。 </li></ol></li><li>夹具元件的设计<ol><li>点击X轴负方向的模型表面上预选草图平面的夹持器组件。如步骤2.1.1.2 2.1.1.3和创建描述中的"素描"窗口中的矩形。 </li><li>点击"功能"窗口。然后，点击"拉伸凸台/基地"功能，在挤出负X方向的选择轮廓。 </li><li>点击夹持器组件的顶表面上以预选草图平面。创建在"草图"的窗口（ 图2C）夹持器的形状和退出草图时的尺寸完全定义如步骤2.1.1.2一个ð2.1.1.3。 </li><li>点击"功能"窗口。然后，点击"拉伸切口"切一腔在夹具元件铸造弹性体。确保壁厚为2.5毫米。 </li></ol></li><li>室和夹持器之间的连接的设计<ol><li>如2.1.1.2和2.1.1.3中描述的室件的顶表面上创建的"草图"窗口的矩形。 </li><li>点击"功能"窗口。然后，点击"拉伸切口"创造室和夹持元件（ 图2D）之间的连接。 </li></ol></li><li>气动通道的设计<ol><li>如步骤2.1.1.2和2.1.1.3中所述创建在正X方向上的腔室片表面1.5毫米直径的圆。 </li><li>点击"功能"窗口。然后，单击"剪切挤压"创建线材插入（ 图2E）通道。确保霍尔ES不通过夹持器组件切断。 </li></ol></li></ol></li><li>在一个单独的CAD文件，绘制与长度和宽度的空腔是比夹持器的腔室部件的外尺寸大1mm的密封模具。注意:壁厚为2.5毫米。 <ol><li>点击"素描"窗口创建顶部平面矩形所描述的步骤2.1.1.2 2.1.1.3和。 </li><li>点击"功能"窗口。然后，点击"拉伸凸台/基地"功能，在挤出Y方向选择的轮廓。 </li><li>点击模型的顶面预选草图平面。绘制一个矩形，如步骤2.1.1.2 2.1.1.3和）所述定义尺寸。 </li><li>点击"功能"窗口。然后，点击"拉伸切除"功能来削减挤出一腔浇铸弹性体。确保壁厚为2.5毫米。 </li></ol></li><li>保存每个防霉片为3D打印的.STL文件。 </l我&gt; <li>加载.STL文件与30微米的分辨率的3D打印机和打印模片9。 </li><li>上模片除去任何载体材料，用水洗涤，模具件。 </li></ol> 3.软单/双动臂气动手指<ol><li>成型夹具臂组件嵌入气动渠道<ol><li>为了产生与连接到它的气动通道密封的室插入在左和室元件（ 图3A）的右侧两个3D印刷室块。 </li><li>通过腔室插入两个毫米直径的1.5钛线棒，保持从夹紧提示2毫米的距离以创建气动通道（ 图3A）。注意:使用一个线材为单致动臂夹持器。 </li><li>倾弹性体混合物到模具中以完全填充所述夹持器组件。 </li><li>确保没有明显的气泡存在。 </li><li>的PlacE中的模具放入烘箱中在60℃下固化10分钟。一旦弹性体固化后，取出从烤箱模具。 </li></ol></li><li>连接到气动通道成型室元件<ol><li>拉动线材和两腔室阻挡从模具。 </li><li>放置在夹持器组件的顶部上的三维印刷夹持器块，以创建所述腔室（ 图3B）。插入线材以阻止在模具的壁上的孔。 </li><li>倾弹性体混合物到模具中以填充腔室部件的剩余部分，​​并确保有困在模具无可见的气泡。 </li><li>在60℃下进行10分钟的温度固化的部分。一旦弹性体固化从烤箱中取出模具。 </li><li>取下夹具块，并与脱模腔室结构的完全固化抓手。 </li></ol></li><li>密封充有空气的腔室组件<ol><li>倾弹性体混合物放入密封模具和固化它在60℃下10分钟。 </li><li>在固化2.5毫米密封层刷弹性体材料的层。放置与在涂覆密封层的顶部的腔室结构的固化夹持器和两片结合在一起（ 图3C）。 </li><li>接着，完全固化整个结构在60℃下15分钟。 </li><li>脱模的完全固化的软的机器人夹持装置。 </li></ol></li></ol> 4.插入软机器人气动夹紧装置进入处理工具<ol><li>设计处理工具运用CAD软件的补充文件1描述并将其保存在文件.STL。 见图4和5的工具的尺寸。 </li><li>加载在3D打印机的.STL文件和打印模片9。 注:手动控制处理工具，矩形帽，和可移动的活塞（ 图4）所有的印刷工序可在3小时48分钟内完成。公关inting时间用于制造机械手控制处理工具和矩形帽（ 图5）是1小时56分钟。见三维打印机使用说明书补充文件2。 </li><li>完成打印后脱落的工具，任何支持材料。然后，洗工具水。 </li><li>插入夹持器插入手动控制处理工具（ 图4A）和覆盖的可动矩形帽（ 图4B）的开口面积。 </li><li>插入一个可移动的活塞（ 图4C），以促进腔室压缩。 </li><li>插入夹持器和线性驱动器到机器人控制处理工具（ 图5A）。注意:线性致动器替代在手动控制模式下的可移动的活塞对腔室压缩。 </li><li>覆盖可动矩形帽（ 图5B）的开口面积。 </li></ol> 5.评估和抓地力压缩试验<ol><li>评估软抓手用跳线进行测试扣人心弦的功能。 <ol><li>将餐桌上的跳线。 </li><li>调整夹具，以使金属丝在两夹爪臂之间。 </li><li>移动可移动的活塞，以便致动所述夹具臂以保持导线以压缩室中。 注意:只有手动控制处理工具在握持演示中使用。 </li><li>保持和线移动到位于20厘米的线的原始位置离开的盒子。 </li></ol></li><li>放置夹持器的两个夹爪之间的校准力传感电阻。确保在传感区域中的夹爪抓地力。注意:在传感区域的直径为14.7毫米。 </li><li>压缩所述腔室以促动夹持器手臂上的力感应电阻的抓地力。 </li><li>测量最大的抓地力压缩力，由于在10中描述的软单致动臂和双促动臂气动夹具可以产生。 注意:读出值将显示在笔记本电脑上。最大的抓地力压缩力在那个气动通道可以承受最大压力的点测量。 </li><li>剪出由柔软的双致动臂气动夹具个别弹性夹爪。 </li><li>插入镊子提示入弹性把持爪的气动通道。 </li><li>放置钳子的两个钳口之间的校准力传感电阻。 </li><li>测量由神经外科医生进行的模拟神经外科手术期间通过弹性体涂层的镊子和钳子所产生的压缩力10。 注意:神经外科医生施加力是类似于他的力感测电阻器实际手术过程中通常适用。 </li><li>平均从每个测试五项试验获得的数据。 </li></ol>

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我们已经成功地证明，允许的对象符合握持软机器人手爪气动装置，它产生的夹着的物体比弹性体涂层镊子技巧和镊子上低得多的压缩力发挥。镊子是周围神经损伤修复过程中神经操作的必备工具手术11，12，但需要其金属结构，从医生的使用非常谨慎，以防止因过度夹持力和对周围组织的附带损伤神经损伤。取决于损伤的严重程度，各种并发症包括从较不严重的，如疼痛，严重的，如血?...

软机器人已经引起了机器人界极大的研究兴趣，他们在不同的功能任务被使用，如在非结构化环境中1和2握持运动波动。它们主要由软弹性体材料和通过利用不同材料的不同的致动技术，如电活化聚合物（EAP），形状记忆合金（SMA），或压缩流体3进行控制。根据诱导的静电力，以产生活性的菌株，由此产生致动差动电压EAPS功能。的形状记忆合金的固有形状记忆效应被部署到生成期间时的温度变化的相变基于所述力产生所需的致动。最后，压缩的流体致动技术有利于简单的设计策略，以诱导在软的致动器的刚度差异，从而使得多个柔性区域将膨胀在增压。软机器人被设计为扩大传统硬机器人的应用，尤其是在微妙的对象涉及的应用程序。特别是，在本文中，我们提出我们在制定细腻手术操作的软机器人抓手独特的方法。 外科用夹紧是参与许多外科手术如肝，妇科，泌尿科和神经修复手术4,5的一个重要方面，它通常是由刚性的，钢的组织夹紧工具，如钳子和腹腔镜抓紧器用于促进的目的而进行观察，切除，吻合程序等 。然而，由于传统的夹紧工具由金属制成，可能在接触6的点的软组织会导致高应力集中区域的需要格外小心。根据组织损伤的严重程度，各种并发症，如疼痛，病理性瘢痕组织˚Formation，甚至终身残疾，可能会导致。预先研究报告说，在周围神经手术并发症的发生率为3％7。因此，软握持，可以提供安全的抓地力兼容的概念可以是微妙的手术操作有希望的候选人。 这里，我们提出的3D印刷和改性软光刻技术，其通过基于杆的方法中，以制造定制的软机器人气动夹具的组合。基于压缩流体致动的软机器人的传统制造技术需要印有和密封工艺密封通道8个气动频道的模具。然而，这是不适用于需要小气动通道，其中通道的阻塞可在密封过程中容易发生微型软机器人可行的。传统技术需要的气动通道的密封，以通过将其粘结的涂覆密封层来完成。因此，拉弹性体材料的揭掉最初用作接合层洒入的微小通道和封闭这些频道。也不可能在该结构的中间定位的充气通道，并连接到使用传统技术的腔室部件。所提出的方法允许连接到一个空气填充用室杆小型化的气动通道的建立，并且不需要的微小通道的密封。此外，连接到气动通道的腔室作为不需要对压缩流体致动的外部空气源的空气源。它允许手动和通过促进该腔室压缩致动夹紧部件，由此提供用户控制的力，它们是通过夹持器施加的量的选择机械手控制模式。这种方法是高度可定制的，并且可以用于制造各种类型的软夹持器的设计，如单或亩夹具ltiple致动臂。

<table><tbody><tr><td>Weighing Scale</td><td>Severin</td><td>KW3667</td><td>(Step: Preparation of elastomers)</td></tr><tr><td>Ecoflex Supersoft 0030 Elastomer</td><td>Smooth-On</td><td>EF0030</td><td>(Step: Preparation of elastomers)</td></tr><tr><td>Planetary Centrifugal Mixer and Containers</td><td>THINKY USA Inc.</td><td>ARE-310</td><td>(Step: Preparation of elastomers)</td></tr><tr><td>Solidworks CAD</td><td>Dassault Syst&amp;egrave;mes&amp;nbsp;</td><td>Solidworks Research Subscription</td><td>(Step: Soft single/double-actuatable arm pneumatic grippers)</td></tr><tr><td>Objet 3D Printer</td><td>Stratasys</td><td>260 Connex2</td><td>(Step: Soft single/double-actuatable arm pneumatic grippers)</td></tr><tr><td>Titanium Wire Rods</td><td>Titan Engineering</td><td>N/A</td><td>(Step: Soft single/double-actuatable arm pneumatic grippers)</td></tr><tr><td>Natural Convection Oven with Timer</td><td>Thermo Fisher Scientific</td><td>BIN#ED53</td><td>(Step: Soft single/double-actuatable arm pneumatic grippers)</td></tr><tr><td>Linear Actuator</td><td>Firgelli Technologies</td><td>L12</td><td>(Step: Insertion of soft robotic pneumatic gripper device into handling tool)</td></tr><tr><td>Jumper Wire</td><td>sgbotic</td><td>CAB-01146</td><td>(Step: Evaluations and grip compressive test)</td></tr><tr><td>Force Sensing Resistor</td><td>Interlink Electronics</td><td>FSR402</td><td>(Step: Evaluations and grip compressive test)</td></tr></tbody></table>

rod-based fabrication of customizable soft robotic pneumatic gripper devices for delicate tissue manipulation

Soft compliant gripping is essential in delicate surgical manipulation for minimizing the risk of tissue grip damage caused by high stress concentrations at the point of contact. It can be achieved by complementing traditional rigid grippers with soft robotic pneumatic gripper devices. This manuscript describes a rod-based approach that combined both 3D-printing and a modified soft lithography technique to fabricate the soft pneumatic gripper. In brief, the pneumatic featureless mold with chamber component is 3D-printed and the rods were used to create the pneumatic channels that connect to the chamber. This protocol eliminates the risk of channels occluding during the sealing process and the need for external air source or related control circuit. The soft gripper consists of a chamber filled with air, and one or more gripper arms with a pneumatic channel in each arm connected to the chamber. The pneumatic channel is positioned close to the outer wall to create different stiffness in the gripper arm. Upon compression of the chamber which generates pressure on the pneumatic channel, the gripper arm will bend inward to form a close grip posture because the outer wall area is more compliant. The soft gripper can be inserted into a 3D-printed handling tool with two different control modes for chamber compression: manual gripper mode with a movable piston, and robotic gripper mode with a linear actuator. The double-arm gripper with two actuatable arms was able to pick up objects of sizes up to 2 mm and yet generate lower compressive forces as compared to elastomer-coated and non-coated rigid grippers. The feasibility of having other designs, such as single-arm or hook gripper, was also demonstrated, which further highlighted the customizability of the soft gripper device, and it's potential to be used in delicate surgical manipulation to reduce the risk of tissue grip damage.

软机器人气动夹持器装置是能够与在直径达至1.2mm的尺寸（ 图6）拾取对象。由单致动臂产生的最大握压缩力，和双致动臂软夹持器装置分别0.79±0.14 N的0.27±0.07 N和，相对于1.71±0.16 N和2.61±0.22Ñ压缩力在由该弹性体涂覆的镊子和由未涂覆镊子（ 图7）的模拟手术。握持力可根据夹具的几何形状和气动通道的尺寸而变化。弹性体的材料性质将决定的充...

Watch this Scientific Journal Video about Rod-based Fabrication of Customizable Soft Robotic Pneumatic Gripper Devices for Delicate Tissue Manipulation at JoVE.com

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

This protocol describes a rod-based approach, combining 3D-printing and soft lithography techniques for fabricating the soft gripper devices. This approach eliminates the need for an external air source by incorporating a chamber component and reduces the chance of occlusion during the sealing process, particularly for miniaturized pneumatic channels.

娇嫩的组织操纵定制的软机器人气动设备手爪基于杆制造

Soft compliant gripping is essential in delicate surgical manipulation for minimizing the risk of tissue grip damage caused by high stress concentrations ...

rod-based-fabrication-customizable-soft-robotic-pneumatic-gripper

Research

JoVE Journal

Bioengineering

8.8K 次观看.  National University of Singapore. This protocol describes a rod-based approach, combining 3D-printing and soft lithography techniques for fabricating the soft gripper devices. This approach eliminates the need for an external air source by incorporating a chamber component and reduces the chance of occlusion during the sealing process, particularly for miniaturized pneumatic channels.

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

Fabrication of Biologically Derived Injectable Materials for Myocardial Tissue Engineering

This protocol provides methods for the preparation of an injectable extracellular matrix (ECM) gel for myocardial tissue engineering applications. Briefly, decellularized tissue is lyophilized, milled, enzymatically digested, and then brought to physiological pH. The lyophilization removes all water content from the tissue, resulting in dry ECM that can be ground into a fine powder with a small mill. After milling, the ECM powder is digested with pepsin to form an injectable matrix. After adjustment to pH 7.4, the liquid matrix material can be injected into the myocardium. Results of previous characterization assays have shown that matrix gels produced from decellularized pericardial and myocardial tissue retain native ECM components, including diverse proteins, peptides and glycosaminoglycans. Given the use of this material for tissue engineering, in vivo characterization is especially useful; here, a method for performing an intramural injection into the left ventricular (LV) free wall is presented as a means of analyzing the host response to the matrix gel in a small animal model. Access to the chest cavity is gained through the diaphragm and the injection is made slightly above the apex in the LV free wall. The biologically derived scaffold can be visualized by biotin-labeling before injection and then staining tissue sections with a horse radish peroxidase-conjugated neutravidin and visualizing via diaminobenzidine (DAB) staining. Analysis of the injection region can also be done with histological and immunohistochemical staining. In this way, the previously examined pericardial and myocardial matrix gels were shown to form fibrous, porous networks and promote vessel formation within the injection region.

Methods for preparing an injectable matrix gel from decellularized tissue and injecting it into rat myocardium in vivo are described.

心肌组织工程生物衍生的注射材料的制备

This protocol provides methods for the preparation of an injectable extracellular matrix (ECM) gel for myocardial tissue engineering applications.  ...

科研

生物工程

Fabrication of Soft Pneumatic Network Actuators with Oblique Chambers

Soft pneumatic network actuators have become one of the most promising actuation devices in soft robotics which benefits from their large bending deformation and low input. However, their monotonous bending motion form in two-dimensional (2-D) space keeps them away from wide applications. This paper presents a detailed fabrication method of soft pneumatic network actuators with oblique chambers, to explore their motions in three-dimensional (3-D) space. The design of oblique chambers enables actuators with tunable coupled bending and twisting capabilities, which gives them the possibility to move dexterously in flexible manipulators, to become biologically inspired robots and medical devices. The fabrication process is based on the molding method, including the silicone elastomer preparation, chamber and base parts fabrication, actuator assembly, tubing connections, checks for leaks, and actuator repair. The fabrication method guarantees the rapid manufacturing of a series of actuators with only a few modifications in the molds. The test results show the high quality of the actuators and their prominent bending and twisting capabilities. Experiments of the gripper demonstrate the advantages of the development in adapting to objects with different diameters and providing sufficient friction.

Here we present a fabrication method of soft pneumatic network actuators with oblique chambers. The actuators are capable of generating coupled bending and twisting motions, which broadens their application in soft robotics.

斜腔软气动网络驱动器的研制

Soft pneumatic network actuators have become one of the most promising actuation devices in soft robotics which benefits from their large bending ...

工程学

Design and Fabrication of an Elastomeric Unit for Soft Modular Robots in Minimally Invasive Surgery

In recent years, soft robotics technologies have aroused increasing interest in the medical field due to their intrinsically safe interaction in unstructured environments. At the same time, new procedures and techniques have been developed to reduce the invasiveness of surgical operations. Minimally Invasive Surgery (MIS) has been successfully employed for abdominal interventions, however standard MIS procedures are mainly based on rigid or semi-rigid tools that limit the dexterity of the clinician. This paper presents a soft and high dexterous manipulator for MIS. The manipulator was inspired by the biological capabilities of the octopus arm, and is designed with a modular approach. Each module presents the same functional characteristics, thus achieving high dexterity and versatility when more modules are integrated. The paper details the design, fabrication process and the materials necessary for the development of a single unit, which is fabricated by casting silicone inside specific molds. The result consists in an elastomeric cylinder including three flexible pneumatic actuators that enable elongation and omni-directional bending of the unit. An external braided sheath improves the motion of the module. In the center of each module a granular jamming-based mechanism varies the stiffness of the structure during the tasks. Tests demonstrate that the module is able to bend up to 120&#176; and to elongate up to 66% of the initial length. The module generates a maximum force of 47 N, and its stiffness can increase up to 36%.

This paper describes the design and fabrication of a soft unit for surgical manipulators. The base module includes three flexible fluidic actuators to achieve omnidirectional bending and elongation, and a granular jamming-based mechanism to enable stiffness control. A complete mechanical characterization is also reported.

设计和弹性股软模块化机器人微创手术制造

In recent years, soft robotics technologies have aroused increasing interest in the medical field due to their intrinsically safe interaction in ...

Design and Implementation of a Bespoke Robotic Manipulator for Extra-corporeal Ultrasound

With the potential for high precision, dexterity, and repeatability, a self-tracked robotic system can be employed to assist the acquisition of real-time ultrasound. However, limited numbers of robots designed for extra-corporeal ultrasound have been successfully translated into clinical use. In this study, we aim to build a bespoke robotic manipulator for extra-corporeal ultrasound examination, which is lightweight and has a small footprint. The robot is formed by five specially shaped links and custom-made joint mechanisms for probe manipulation, to cover the necessary range of motion with redundant degrees of freedom to ensure the patient&#39;s safety. The mechanical safety is emphasized with a clutch mechanism, to limit the force applied to patients. As a result of the design, the total weight of the manipulator is less than 2 kg and the length of the manipulator is about 25 cm. The design has been implemented, and simulation, phantom, and volunteer studies have been performed, to validate the range of motion, the ability to make fine adjustments, mechanical reliability, and the safe operation of the clutch. This paper details the design and implementation of the bespoke robotic ultrasound manipulator, with the design and assembly methods illustrated. Testing results to demonstrate the design features and clinical experience of using the system are presented. It is concluded that the current proposed robotic manipulator meets the requirements as a bespoke system for extra-corporeal ultrasound examination and has great potential to be translated into clinical use.

This paper introduces the design and implementation of a bespoke robotic manipulator for extra-corporeal ultrasound examination. The system has five degrees of freedom with lightweight joints made by 3D printing and a mechanical clutch for safety management.

一种用于体外超声的自定义机器人机械手的设计与实现

With the potential for high precision, dexterity, and repeatability, a self-tracked robotic system can be employed to assist the acquisition of real-time ...

Rapid Manufacturing of Thin Soft Pneumatic Actuators and Robots

This protocol describes a method for rapid manufacturing of soft pneumatic actuators and robots with an ultrathin form factor using a heat press and a laser cutter machine. The method starts with the lamination of thermoplastic polyurethane (TPU) sheets using a heat press for 10 min at the temperature of ~93 &#176;C. Next, the parameters of the laser cutter machine are optimized to produce a rectangular balloon with maximum burst pressure. Using the optimized parameters, the soft actuators are laser cut/welded three times sequentially. Next, a dispensing needle is attached to the actuator, allowing it to be inflated. The effect of geometrical parameters on the deflection of the actuator are studied systematically by varying the channel width and length. Finally, the performance of the actuator is characterized using an optical camera and a fluid dispenser. Conventional fabrication methods of soft pneumatic actuators based on silicone molding are time consuming (several hours). They also result in strong but bulky actuators, which limits the actuator&#8217;s applications. Moreover, microfabrication of thin pneumatic actuators is both time-consuming and expensive. The proposed manufacturing method in the current work resolves these issues by introducing a fast, simple, and cost-effective fabrication method of ultrathin pneumatic actuators.

This protocol describes a method for rapid manufacturing of soft pneumatic actuators and robots with a thin form factor. The fabrication method starts with lamination of thermoplastic polyurethane (TPU) sheets followed by laser cutting/welding of a two-dimensional pattern to form actuators and robots.

快速制造薄软气动执行器和机器人

This protocol describes a method for rapid manufacturing of soft pneumatic actuators and robots with an ultrathin form factor using a heat press and a ...

Fabrication of Carbon-Based Ionic Electromechanically Active Soft Actuators

Ionic electromechanically active capacitive laminates are a type of smart material that move in response to electrical stimulation. Due to the soft, compliant and biomimetic nature of this deformation, actuators made of the laminate have received increasing interest in soft robotics and (bio)medical applications. However, methods to easily fabricate the active material in large (even industrial) quantities and with a high batch-to-batch and within-batch repeatability are needed to transfer the knowledge from laboratory to industry. This protocol describes a simple, industrially scalable and reproducible method for the fabrication of ionic carbon-based electromechanically active capacitive laminates and the preparation of actuators made thereof. The inclusion of a passive and chemically inert (insoluble) middle layer (e.g., a textile-reinforced polymer network or microporous Teflon) distinguishes the method from others. The protocol is divided into five steps: membrane preparation, electrode preparation, current collector attachment, cutting and shaping, and actuation. Following the protocol results in an active material that can, for example, compliantly grasp and hold a randomly shaped object as demonstrated in the article.

This article describes a fast and simple manufacturing process of ionic electromechanically active composite materials for actuators in biomedical, biomimetic and soft robotics applications. The key fabrication steps, their importance for the actuators&#39; final properties, and some of the main characterization techniques are described in detail.

碳基离子机电活性软执行器的制造

Ionic electromechanically active capacitive laminates are a type of smart material that move in response to electrical stimulation. Due to the soft, ...

Manufacturing, Control, and Performance Evaluation of a Gecko-Inspired Soft Robot

This protocol presents a method for manufacturing, control, and evaluation of the performance of a soft robot that can climb inclined flat surfaces with slopes of up to 84&#176;. The manufacturing method is valid for the fast pneunet bending actuators in general and might, therefore, be interesting for newcomers to the field of actuator manufacturing. The control of the robot is achieved by means of a pneumatic control box that can provide arbitrary pressures and can be built by only using purchased components, a laser cutter, and a soldering iron. For the walking performance of the robot, the pressure-angle calibration plays a crucial role. Therefore, a semi-automated method for the pressure-angle calibration is presented. At high inclines (&#62; 70&#176;), the robot can no longer reliably fix itself to the walking plane. Therefore, the gait pattern is modified to ensure that the feet can be fixed on the walking plane.

This protocol provides a detailed list of steps to be performed for the manufacturing, control and evaluation of the climbing performance of a gecko-inspired soft robot.

壁虎灵感软机器人的制造、控制和性能评估

This protocol presents a method for manufacturing, control, and evaluation of the performance of a soft robot that can climb inclined flat surfaces with ...

Four-Dimensional Printing of Stimuli-Responsive Hydrogel-Based Soft Robots

The present protocol describes the creation of four-dimensional (4D), time-dependent, shape-changeable, stimuli-responsive soft robots using a three-dimensional (3D) bio-printing method. Recently, 4D printing techniques have been extensively proposed as innovative new methods for developing shape-transformable soft robots. In particular, 4D time-dependent shape transformation is an essential factor in soft robotics because it allows effective functions to occur at the right time and place when triggered by external cues, such as heat, pH, and light. In line with this perspective, stimuli-responsive materials, including hydrogels, polymers, and hybrids, can be printed to realize smart shape-transformable soft robotic systems. The current protocol can be used to fabricate thermally responsive soft grippers composed of N-isopropylacrylamide (NIPAM)-based hydrogels, with overall sizes ranging from millimeters to centimeters in length. It is expected that this study will provide new directions for realizing intelligent soft robotic systems for various applications in smart manipulators (e.g., grippers, actuators, and pick-and-place machines), healthcare systems (e.g., drug capsules, biopsy tools, and microsurgeries), and electronics (e.g., wearable sensors and fluidics).

This manuscript describes a 4D printing strategy for fabricating intelligent stimuli-responsive soft robots. This approach can provide the groundwork to facilitate the realization of intelligent shape-transformable soft robotic systems, including smart manipulators, electronics, and healthcare systems.

刺激响应水凝胶软机器人的四维打印

The present protocol describes the creation of four-dimensional (4D), time-dependent, shape-changeable, stimuli-responsive soft robots using a ...

通过增强抓握和手指恢复来彻底改变中风康复

A Flexible Wearable Supernumerary Robotic Limb for Chronic Stroke Patients

In this study, we present a flexible wearable supernumerary robotic limb that helps chronic stroke patients with finger rehabilitation and grasping movements. The design of this innovative limb draws inspiration from bending pneumatic muscles and the unique characteristics of an elephant's trunk tip. It places a strong emphasis on crucial factors such as lightweight construction, safety, compliance, waterproofing, and achieving a high output-to-weight/pressure ratio. The proposed structure enables the robotic limb to perform both envelope and fingertip grasping. Human-robot interaction is facilitated through a flexible bending sensor, detecting the wearer's finger movements and connecting them to motion control via a threshold segmentation method. Additionally, the system is portable for versatile daily use. To validate the effectiveness of this innovation, real-world experiments involving six chronic stroke patients and three healthy volunteers were conducted. The feedback received through questionnaires indicates that the designed mechanism holds immense promise in assisting chronic stroke patients with their daily grasping activities, potentially improving their quality of life and rehabilitation outcomes.

作者聚焦：使用灵活的机器人肢体增强偏瘫患者的抓握能力 

This protocol introduces a flexible wearable supernumerary robotic limb tailored to assist in finger rehabilitation for stroke patients. The design incorporates a bending sensor to facilitate seamless human-robot interaction. Validation through experiments involving both healthy volunteers and stroke patients underscores the efficacy and dependability of the proposed study.

一种用于慢性脑卒中患者的柔性可穿戴编外机器人肢体

In this study, we present a flexible wearable supernumerary robotic limb that helps chronic stroke patients with finger rehabilitation and grasping ...

娇嫩的组织操纵定制的软机器人气动设备手爪基于杆制造

摘要

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此视频中的章节

心肌组织工程生物衍生的注射材料的制备

斜腔软气动网络驱动器的研制

设计和弹性股软模块化机器人微创手术制造

一种用于体外超声的自定义机器人机械手的设计与实现

快速制造薄软气动执行器和机器人

碳基离子机电活性软执行器的制造

壁虎灵感软机器人的制造、控制和性能评估

刺激响应水凝胶软机器人的四维打印

一种用于慢性脑卒中患者的柔性可穿戴编外机器人肢体

一种用于慢性脑卒中患者的柔性可穿戴编外机器人肢体