Survey Paper Notes
Unfamiliar Terms:
- Young’s modulus X
- Shape-memory alloy actuators
- Soft lithographic
- dielectric EAPs, ferroelectric polymers, electrostrictive graft polymers, liquid crystal polymers, ionic EAPs, electrorheological fluids, ionic polymer–metal composites, and stimuli-responsive gels.
- Piezoelectric polymers
- Proprioceptive sensors
- Bernoulli-Euler beam mechanics
- Inverse kinematics problem
Survey Paper | Soft robotics: Biological inspiration, state of the art, and future research
Rigid robots find it difficult to adjust to and operate in chaotic or cluttered environments. Drawing inspiration from biological methods of locomotion, researches can create soft robots that mimic nature to create robots that are more suited for varied environments, safe for humans, and adaptable.
Trivedi, Deepak, Christopher D. Rahn, William M. Kier, and Ian D. Walker. “Soft Robotics: Biological Inspiration, State of the Art, and Future Research.” Applied Bionics and Biomechanics 5, no. 3 (January 1, 2008): 99–117. https://doi.org/10.1080/11762320802557865.
S21 Course Bibliography | Wearable soft sensing suit for human gait measurement
By incorporating soft sensors and materials into a suit, researchers were able to measure various characteristics of subjects’ gait with minimal impact to their natural stride and performance.
Mengüç, Yiğit, Yong-Lae Park, Hao Pei, Daniel Vogt, Patrick M. Aubin, Ethan Winchell, Lowell Fluke, Leia Stirling, Robert J. Wood, and Conor J. Walsh. “Wearable Soft Sensing Suit for Human Gait Measurement.” The International Journal of Robotics Research 33, no. 14 (December 1, 2014): 1748–64. https://doi.org/10.1177/0278364914543793.
IEEE Xplore | Towards a Soft Robotic Skin for Autonomous Tissue Palpation
In minimally invasive surgery, surgeons are not able to differentiate tumors from healthy tissue through traditional methods of palpitation. This paper proposes a system of soft components that are able to palpitate tissue and provide useful feedback to the surgeon in a minimally invasive context.
Campisano, Federico, Selim Ozel, Anand Ramakrishnan, Anany Dwivedi, Nikolaos Gkotsis, Cagdas D. Onal, and Pietro Valdastri. “Towards a Soft Robotic Skin for Autonomous Tissue Palpation.” In 2017 IEEE International Conference on Robotics and Automation (ICRA), 6150–55, 2017. https://doi.org/10.1109/ICRA.2017.7989729.