Cargando…

Hyperelastic Modeling and Validation of Hybrid-Actuated Soft Robot with Pressure-Stiffening

Soft robots have gained popularity, especially in intraluminal applications, because their soft bodies make them safer for surgical interventions than flexures with rigid backbones. This study investigates a pressure-regulating stiffness tendon-driven soft robot and provides a continuum mechanics mo...

Descripción completa

Detalles Bibliográficos
Autores principales: Roshanfar, Majid, Taki, Salar, Sayadi, Amir, Cecere, Renzo, Dargahi, Javad, Hooshiar, Amir
Formato: Online Artículo Texto
Lenguaje:English
Publicado: MDPI 2023
Materias:
Acceso en línea:https://www.ncbi.nlm.nih.gov/pmc/articles/PMC10220827/
https://www.ncbi.nlm.nih.gov/pubmed/37241524
http://dx.doi.org/10.3390/mi14050900
_version_ 1785049310542430208
author Roshanfar, Majid
Taki, Salar
Sayadi, Amir
Cecere, Renzo
Dargahi, Javad
Hooshiar, Amir
author_facet Roshanfar, Majid
Taki, Salar
Sayadi, Amir
Cecere, Renzo
Dargahi, Javad
Hooshiar, Amir
author_sort Roshanfar, Majid
collection PubMed
description Soft robots have gained popularity, especially in intraluminal applications, because their soft bodies make them safer for surgical interventions than flexures with rigid backbones. This study investigates a pressure-regulating stiffness tendon-driven soft robot and provides a continuum mechanics model for it towards using that in adaptive stiffness applications. To this end, first, a central single-chamber pneumatic and tri-tendon-driven soft robot was designed and fabricated. Afterward, the classic Cosserat’s rod model was adopted and augmented with the hyperelastic material model. The model was then formulated as a boundary-value problem and was solved using the shooting method. To identify the pressure-stiffening effect, a parameter-identification problem was formulated to identify the relationship between the flexural rigidity of the soft robot and internal pressure. The flexural rigidity of the robot at various pressures was optimized to match theoretical deformation and experiments. The theoretical findings of arbitrary pressures were then compared with the experiment for validation. The internal chamber pressure was in the range of 0 to 40 kPa and the tendon tensions were in the range of 0 to 3 N. The theoretical and experimental findings were in fair agreement for tip displacement with a maximum error of 6.40% of the flexure’s length.
format Online
Article
Text
id pubmed-10220827
institution National Center for Biotechnology Information
language English
publishDate 2023
publisher MDPI
record_format MEDLINE/PubMed
spelling pubmed-102208272023-05-28 Hyperelastic Modeling and Validation of Hybrid-Actuated Soft Robot with Pressure-Stiffening Roshanfar, Majid Taki, Salar Sayadi, Amir Cecere, Renzo Dargahi, Javad Hooshiar, Amir Micromachines (Basel) Article Soft robots have gained popularity, especially in intraluminal applications, because their soft bodies make them safer for surgical interventions than flexures with rigid backbones. This study investigates a pressure-regulating stiffness tendon-driven soft robot and provides a continuum mechanics model for it towards using that in adaptive stiffness applications. To this end, first, a central single-chamber pneumatic and tri-tendon-driven soft robot was designed and fabricated. Afterward, the classic Cosserat’s rod model was adopted and augmented with the hyperelastic material model. The model was then formulated as a boundary-value problem and was solved using the shooting method. To identify the pressure-stiffening effect, a parameter-identification problem was formulated to identify the relationship between the flexural rigidity of the soft robot and internal pressure. The flexural rigidity of the robot at various pressures was optimized to match theoretical deformation and experiments. The theoretical findings of arbitrary pressures were then compared with the experiment for validation. The internal chamber pressure was in the range of 0 to 40 kPa and the tendon tensions were in the range of 0 to 3 N. The theoretical and experimental findings were in fair agreement for tip displacement with a maximum error of 6.40% of the flexure’s length. MDPI 2023-04-22 /pmc/articles/PMC10220827/ /pubmed/37241524 http://dx.doi.org/10.3390/mi14050900 Text en © 2023 by the authors. https://creativecommons.org/licenses/by/4.0/Licensee MDPI, Basel, Switzerland. This article is an open access article distributed under the terms and conditions of the Creative Commons Attribution (CC BY) license (https://creativecommons.org/licenses/by/4.0/).
spellingShingle Article
Roshanfar, Majid
Taki, Salar
Sayadi, Amir
Cecere, Renzo
Dargahi, Javad
Hooshiar, Amir
Hyperelastic Modeling and Validation of Hybrid-Actuated Soft Robot with Pressure-Stiffening
title Hyperelastic Modeling and Validation of Hybrid-Actuated Soft Robot with Pressure-Stiffening
title_full Hyperelastic Modeling and Validation of Hybrid-Actuated Soft Robot with Pressure-Stiffening
title_fullStr Hyperelastic Modeling and Validation of Hybrid-Actuated Soft Robot with Pressure-Stiffening
title_full_unstemmed Hyperelastic Modeling and Validation of Hybrid-Actuated Soft Robot with Pressure-Stiffening
title_short Hyperelastic Modeling and Validation of Hybrid-Actuated Soft Robot with Pressure-Stiffening
title_sort hyperelastic modeling and validation of hybrid-actuated soft robot with pressure-stiffening
topic Article
url https://www.ncbi.nlm.nih.gov/pmc/articles/PMC10220827/
https://www.ncbi.nlm.nih.gov/pubmed/37241524
http://dx.doi.org/10.3390/mi14050900
work_keys_str_mv AT roshanfarmajid hyperelasticmodelingandvalidationofhybridactuatedsoftrobotwithpressurestiffening
AT takisalar hyperelasticmodelingandvalidationofhybridactuatedsoftrobotwithpressurestiffening
AT sayadiamir hyperelasticmodelingandvalidationofhybridactuatedsoftrobotwithpressurestiffening
AT cecererenzo hyperelasticmodelingandvalidationofhybridactuatedsoftrobotwithpressurestiffening
AT dargahijavad hyperelasticmodelingandvalidationofhybridactuatedsoftrobotwithpressurestiffening
AT hooshiaramir hyperelasticmodelingandvalidationofhybridactuatedsoftrobotwithpressurestiffening