Towards an Untethered Knit Fabric Soft Continuum Robotic Module with Embedded Fabric Sensing

Pham H. Nguyen, Zhi Qiao, Sam Seidel, Sunny Amatya, Imran I.B. Mohd, Wenlong Zhang

Research output: Chapter in Book/Report/Conference proceedingConference contribution

Abstract

In this paper, we present the design and testing of a continuum, lightweight, multi-degree of freedom (DOF) soft robotic module made of high-stretch knit fabric. A set of design criteria, inspired by muscular hydrostats found in elephant trunks, is presented in order to create a highly articulated and robust soft robotic module. The soft continuum robotic module can vertically extend and twist along its central axis, as well as bend in 3D space. The material properties of the knit fabrics are characterized. The bending articulation and payload capabilities of the module are investigated. This work also demonstrates the embedded integration of a thin, flexible, and conductive fabric stretch sensor with the module to provide pose information for motion tracking. An on-board electropnuematic system is also developed. This system allows for the future creation of safe human-robot interfaces that are multi-functional integration of multiple soft robotic modular units that are deployable for various complex tasks.

Original languageEnglish (US)
Title of host publication2020 3rd IEEE International Conference on Soft Robotics, RoboSoft 2020
PublisherInstitute of Electrical and Electronics Engineers Inc.
Pages615-620
Number of pages6
ISBN (Electronic)9781728165707
DOIs
StatePublished - May 2020
Event3rd IEEE International Conference on Soft Robotics, RoboSoft 2020 - New Haven, United States
Duration: May 15 2020Jul 15 2020

Publication series

Name2020 3rd IEEE International Conference on Soft Robotics, RoboSoft 2020

Conference

Conference3rd IEEE International Conference on Soft Robotics, RoboSoft 2020
CountryUnited States
CityNew Haven
Period5/15/207/15/20

ASJC Scopus subject areas

  • Artificial Intelligence
  • Mechanical Engineering
  • Control and Optimization

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