Bionic soft robotic gripper with feedback control for adaptive grasping and capturing applications

Abstract

Robots are playing an increasingly important role in engineering applications. Soft robots have promising applications in several fields due to their inherent advantages of compliance, low density, and soft interactions. A soft gripper based on bio-inspiration is proposed in this study. We analyze the cushioning and energy absorption mechanism of human fingertips in detail and provide insights for designing a soft gripper with a variable stiffness structure. We investigate the grasping modes through a large deformation modeling approach, which is verified through experiments. The characteristics of the three grasping modes are quantified through testing and can provide guidance for robotics manipulation. First, the adaptability of the soft gripper is verified by grasping multi-scale and extremely soft objects. Second, a cushioning model of the soft gripper is proposed, and the effectiveness of cushioning is verified by grasping extremely sharp objects and living organisms. Notably, we validate the advantages of the variable stiffness of the soft gripper, and the results show that the soft robot can robustly complete assemblies with a gap of only 0.1 mm. Owing to the unstructured nature of the engineering environment, the soft gripper can be applied in complex environments based on the abovementioned experimental analysis. Finally, we design the soft robotics system with feedback capture based on the inspiration of human catching behavior. The feasibility of engineering applications is initially verified through fast capture experiments on moving objects. The design concept of this robot can provide new insights for bionic machinery.

Key words： soft bionic gripper; variable stiffness structure; large deformation modeling; feedback control; soft robotic system

Acknowledgements

This research was supported by the General Program (Grant No. 12272222) and Key Program (Grant No. 11932001) of the National Natural Science Foundation of China, for which the authors are grateful.

Conflict of Interest

The authors declare that they have no conflict of interest.

References

1 Low J H, Khin P M, Han Q Q, Yao H C, Teoh Y S, Zeng Y D, Li S, Liu J, Liu Z J, Valdivia y Alvarado P, Chen I M, Tee B C K, Yeow R C H. Sensorized reconfigurable soft robotic gripper system for automated food handling. IEEE/ASME Transactions on Mechatronics, 2022, 27(5): 3232–3243

2 Hattori T, Omata T. Multifunctional parallel gripper with three actuators. IEEE/ASME Transactions on Mechatronics, 2022, 27(3): 1391–1402

3 Gu G Y, Zhang N B, Xu H P, Lin S T, Yu Y, Chai G H, Ge L S, Yang H L, Shao Q W, Sheng X J, Zhu X Y, Zhao X H. A soft neuroprosthetic hand providing simultaneous myoelectric control and tactile feedback. Nature Biomedical Engineering, 2023, 7(4): 589–598

4 Deimel R, Brock O. A novel type of compliant and underactuated robotic hand for dexterous grasping. The International Journal of Robotics Research, 2016, 35(1–3): 161–185

5 Alian A, Zareinejad M, Talebi H A. Curvature tracking of a two-segmented soft finger using an adaptive sliding-mode controller. IEEE/ASME Transactions on Mechatronics, 2023, 28(1): 50–59

6 Gao Y, Chien S. Review on space robotics: toward top-level science through space exploration. Science Robotics, 2017, 2(7): eaan5074

7 Sun Y L, Liu Y Q, Pancheri F, Lueth T C. LARG: a lightweight robotic gripper with 3-D topology optimized adaptive fingers. IEEE/ASME Transactions on Mechatronics, 2022, 27(4): 2026–2034

8 Zhou Z F, Zuo R Z, Ying B B, Zhu J H, Wang Y, Wang X, Liu X Y. A sensory soft robotic gripper capable of learning-based object recognition and force-controlled grasping. IEEE Transactions on Automation Science and Engineering, 2024, 21(1): 844–854

9 Xu L, Chen H Q, Zou J, Dong W T, Gu G Y, Zhu L M, Zhu X Y. Bio-inspired annelid robot: a dielectric elastomer actuated soft robot. Bioinspiration & Biomimetics, 2017, 12(2): 025003

10 Wang Y Z, Gupta U, Parulekar N, Zhu J. A soft gripper of fast speed and low energy consumption. Science China Technological Sciences, 2019, 62(1): 31–38

11 Luo K, Tian Q, Hu H Y. Dynamic modeling, simulation and design of smart membrane systems driven by soft actuators of multilayer dielectric elastomers. Nonlinear Dynamics, 2020, 102(3): 1463–1483

12 Gu G Y, Zou J, Zhao R K, Zhao X H, Zhu X Y. Soft wall-climbing robots. Science Robotics, 2018, 3(25): eaat2874

13 Shepherd R F, Stokes A A, Freake J, Barber J, Snyder P W, Mazzeo A D, Cademartiri L, Morin S A, Whitesides G M. Using explosions to power a soft robot. Angewandte Chemie International Edition, 2013, 52(10): 2892–2896

14 Bartlett N W, Tolley M T, Overvelde J T B, Weaver J C, Mosadegh B, Bertoldi K, Whitesides G M, Wood R J. A 3D-printed, functionally graded soft robot powered by combustion. Science, 2015, 349(6244): 161–165

15 Zhang Y F, Yang D Z, Yan P N, Zhou P W, Zou J, Gu G Y. Inchworm inspired multimodal soft robots with crawling, climbing, and transitioning locomotion. IEEE Transactions on Robotics, 2022, 38(3): 1806–1819

16 Yap H K, Ng H Y, Yeow C H. High-force soft printable pneumatics for soft robotic applications. Soft Robotics, 2016, 3(3): 144–158

17 Xie Z X, Yuan F Y, Liu Z M, Sun Z N, Knubben E M, Wen L. A proprioceptive soft tentacle gripper based on crosswise stretchable sensors. IEEE/ASME Transactions on Mechatronics, 2020, 25(4): 1841–1850

18 Liu S F, Wang F J, Liu Z, Zhang W, Tian Y L, Zhang D W. A two-finger soft-robotic gripper with enveloping and pinching grasping modes. IEEE/ASME Transactions on Mechatronics, 2021, 26(1): 146–155

19 Liu C H, Chen L J, Chi J C, Wu J Y. Topology optimization design and experiment of a soft pneumatic bending actuator for grasping applications. IEEE Robotics and Automation Letters, 2022, 7(2): 2086–2093

20 Gu G Y, Wang D, Ge L S, Zhu X Y. Analytical modeling and design of generalized PNEU-net soft actuators with three-dimensional deformations. Soft Robotics, 2021, 8(4): 462–477

21 Drotman D, Ishida M, Jadhav S, Tolley M T. Application-driven design of soft, 3-D printed, pneumatic actuators with bellows. IEEE/ASME Transactions on Mechatronics, 2019, 24(1): 78–87

22 Zheng X D, Yang T W, Zhu X J, Chen Z, Wang X Q, Liang B. Dynamic modeling and experimental verification of a cable-driven continuum manipulator with cable-constrained synchronous rotating mechanisms. Nonlinear Dynamics, 2022, 107(1): 153–172

23 Tang L, Zhu L M, Zhu X Y, Gu G Y. Confined spaces path following for cable-driven snake robots with prediction lookup and interpolation algorithms. Science China Technological Sciences, 2020, 63(2): 255–264

24 Renda F, Giorelli M, Calisti M, Cianchetti M, Laschi C. Dynamic model of a multibending soft robot arm driven by cables. IEEE Transactions on Robotics, 2014, 30(5): 1109–1122

25 Fang B, Sun F C, Wu L Y, Liu F K, Wang X X, Huang H M, Huang W B, Liu H P, Wen L. Multimode grasping soft gripper achieved by layer jamming structure and tendon-driven mechanism. Soft Robotics, 2022, 9(2): 233–249

26 Clark A B, Mathivannan V, Rojas N. A continuum manipulator for open-source surgical robotics research and shared development. IEEE Transactions on Medical Robotics and Bionics, 2021, 3(1): 277–280

27 Xu K, Zi P J, Ding X L. Learning from biological attachment devices: applications of bioinspired reversible adhesive methods in robotics. Frontiers of Mechanical Engineering, 2022, 17(3): 43

28 Li L, Wang S Q, Zhang Y Y, Song S Y, Wang C Q, Tan S C, Zhao W, Wang G, Sun W G, Yang F Q, Liu J Q, Chen B H, Xu H Y, Nguyen P, Kovac M, Wen L. Aerial-aquatic robots capable of crossing the air‒water boundary and hitchhiking on surfaces. Science Robotics, 2022, 7(66): eabm6695

29 Araromi O A, Gavrilovich I, Shintake J, Rosset S, Richard M, Gass V, Shea H R. Rollable multisegment dielectric elastomer minimum energy structures for a deployable microsatellite gripper. IEEE/ASME Transactions on Mechatronics, 2015, 20(1): 438–446

30 Wang N F, Chen B C, Ge X D, Zhang X M, Wang W B. Modular crawling robots using soft pneumatic actuators. Frontiers of Mechanical Engineering, 2021, 16(1): 163–175

31 Zhang Y C, Li P C, Quan J L, Li L Q, Zhang G Y, Zhou D K. Progress, challenges, and prospects of soft robotics for space applications. Advanced Intelligent Systems, 2023, 5(3): 2200071

32 Zhang Z K, Shao Z F, You Z, Tang X Q, Zi B, Yang G L, Gosselin C, Caro S. State-of-the-art on theories and applications of cable-driven parallel robots. Frontiers of Mechanical Engineering, 2022, 17(3): 37

33 Chen X Q, Zhang X, Huang Y Y, Cao L, Liu J G. A review of soft manipulator research, applications, and opportunities. Journal of Field Robotics, 2022, 39(3): 281–311

34 Liu Y H, Luo K, Wang S, Song X D, Zhang Z J, Tian Q, Hu H Y. A soft and bistable gripper with adjustable energy barrier for fast capture in space. Soft Robotics, 2023, 10(1): 77–87

35 Liu C H, Chung F M, Chen Y, Chiu C H, Chen T L. Optimal design of a motor-driven three-finger soft robotic gripper. IEEE/ASME Transactions on Mechatronics, 2020, 25(4): 1830–1840

36 WuT KLiu Z YWangB YMaZ QMaD L DengX W. A versatile topology-optimized compliant actuator for soft robotic gripper and walking robot. Soft Robotics, 2024, 11(1): 157–170.

37 Shintake J, Cacucciolo V, Floreano D, Shea H. Soft robotic grippers. Advanced Materials, 2018, 30(29): 1707035

38 Rus D, Tolley M T. Design, fabrication and control of soft robots. Nature, 2015, 521(7553): 467–475

39 Rothemund P, Kim Y, Heisser R H, Zhao X H, Shepherd R F, Keplinger C. Shaping the future of robotics through materials innovation. Nature Materials, 2021, 20(12): 1582–1587

40 Rich S I, Wood R J, Majidi C. Untethered soft robotics. Nature Electronics, 2018, 1(2): 102–112

41 Zhang N B, Ge L S, Xu H P, Zhu X Y, Gu G Y. 3D printed, modularized rigid-flexible integrated soft finger actuators for anthropomorphic hands. Sensors and Actuators A: Physical, 2020, 312: 112090

42 Wettels N, Parnandi A R, Moon J H, Loeb G E, Sukhatme G S. Grip control using biomimetic tactile sensing systems. IEEE/ASME Transactions on Mechatronics, 2009, 14(6): 718–723

43 Tawk C, Zhou H, Sariyildiz E, in het Panhuis M, Spinks G M, Alici G. Design, modeling, and control of a 3D printed monolithic soft robotic finger with embedded pneumatic sensing chambers. IEEE/ASME Transactions on Mechatronics, 2021, 26(2): 876–887

44 Smith D O, Oura C, Kimura C, Toshimori K. The distal venous anatomy of the finger. The Journal of Hand Surgery, 1991, 16(2): 303–307

45 Controzzi M, D’Alonzo M, Peccia C, Oddo C M, Carrozza M C, Cipriani C. Bioinspired fingertip for anthropomorphic robotic hands. Applied Bionics and Biomechanics, 2014, 11(1–2): 864573

46 Hume M C, Gellman H, McKellop H, Brumfield R H. Functional range of motion of the joints of the hand. The Journal of Hand Surgery, 1990, 15(2): 240–243

47 LiangD YZhang W ZSunZ GChenQ. PASA finger: a novel parallel and self-adaptive underactuated finger with pinching and enveloping grasp. In: Proceedings of 2015 IEEE International Conference on Robotics and Biomimetics. Zhuhai: IEEE, 2015, 1323–1328

48 Fang B, Sun F C, Wu L Y, Liu F K, Wang X X, Huang H M, Huang W B, Liu H P, Wen L. Multimode grasping soft gripper achieved by layer jamming structure and tendon-driven mechanism. Soft Robotics, 2022, 9(2): 233–249

49 Le T N, Battini J M, Hjiaj M. Efficient formulation for dynamics of corotational 2D beams. Computational Mechanics, 2011, 48(2): 153–161

50 SapietováAGajdošLDekýš VSapietaM. Analysis of the influence of input function contact parameters of the impact force process in the MSC. ADAMS. In: Jabłoński R, Brezina T, eds. Advanced Mechatronics Solutions. Cham: Springer, 2016, 243–253

51 Arnold M, Brüls O. Convergence of the generalized-α scheme for constrained mechanical systems. Multibody System Dynamics, 2007, 18(2): 185–202

52 Yang C J, Zhang W H, Ren G X, Liu X Y. Modeling and dynamics analysis of helical spring under compression using a curved beam element with consideration on contact between its coils. Meccanica, 2014, 49(4): 907–917

53 Alifdhyatra A F, Sunarya B A Y, Hidayat E M I, Anshori I, Hadi Y W. Development of pneumatic networks soft robot with anti-windup PID control. In: Proceedings of the 13th IEEE Control and System Graduate Research Colloquium. Shah Alam: IEEE, 2022, 25–30

54 Wang D, Li L, Zhang B, Zhang Y F, Wu M S, Gu G Y, Ge Q. Effect of temperature on the programmable helical deformation of a reconfigurable anisotropic soft actuator. International Journal of Solids and Structures, 2020, 199: 169–180

55 Mosadegh B, Polygerinos P, Keplinger C, Wennstedt S, Shepherd R F, Gupta U, Shim J, Bertoldi K, Walsh C J, Whitesides G M. Pneumatic networks for soft robotics that actuate rapidly. Advanced Functional Materials, 2014, 24(15): 2163–2170

56 Abondance S, Teeple C B, Wood R J. A dexterous soft robotic hand for delicate in-hand manipulation. IEEE Robotics and Automation Letters, 2020, 5(4): 5502–5509

57 Scott S H. Optimal feedback control and the neural basis of volitional motor control. Nature Reviews Neuroscience, 2004, 5(7): 532–545

58 Bozzacchi C, Volcic R, Domini F. Effect of visual and haptic feedback on grasping movements. Journal of Neurophysiology, 2014, 112(12): 3189–3196

59 Du G G, Wang K, Lian S G, Zhao K Y. Vision-based robotic grasping from object localization, object pose estimation to grasp estimation for parallel grippers: a review. Artificial Intelligence Review, 2021, 54(3): 1677–1734