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Proceedings Paper

System-level challenges in pressure-operated soft robotics
Author(s): Cagdas D. Onal
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Paper Abstract

Last decade witnessed the revival of fluidic soft actuation. As pressure-operated soft robotics becomes more popular with promising recent results, system integration remains an outstanding challenge. Inspired greatly by biology, we envision future robotic systems to embrace mechanical compliance with bodies composed of soft and hard components as well as electronic and sensing sub-systems, such that robot maintenance starts to resemble surgery. In this vision, portable energy sources and driving infrastructure plays a key role to offer autonomous many-DoF soft actuation. On the other hand, while offering many advantages in safety and adaptability to interact with unstructured environments, objects, and human bodies, mechanical compliance also violates many inherent assumptions in traditional rigid-body robotics. Thus, a complete soft robotic system requires new approaches to utilize proprioception that provides rich sensory information while remaining flexible, and motion control under significant time delay. This paper discusses our proposed solutions for each of these system-level challenges in soft robotics research.

Paper Details

Date Published: 25 May 2016
PDF: 8 pages
Proc. SPIE 9836, Micro- and Nanotechnology Sensors, Systems, and Applications VIII, 983627 (25 May 2016); doi: 10.1117/12.2224672
Show Author Affiliations
Cagdas D. Onal, Worcester Polytechnic Institute (United States)

Published in SPIE Proceedings Vol. 9836:
Micro- and Nanotechnology Sensors, Systems, and Applications VIII
Thomas George; Achyut K. Dutta; M. Saif Islam, Editor(s)

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