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Accepted Manuscript
Article Type: Research Papers
J. Mechanisms Robotics.
Paper No: JMR-22-1317
Published Online: December 1, 2022
Topics: Grasping
Journal Articles
Journal Articles
Journal Articles
Journal Articles
Journal Articles
Article Type: Research Papers
J. Mechanisms Robotics. October 2023, 15(5): 051012.
Paper No: JMR-22-1380
Published Online: November 25, 2022
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Design of TDCT soft robot with a super-elastic retractable Nitinol tube (bl...
Published Online: November 25, 2022
Fig. 1 Design of TDCT soft robot with a super-elastic retractable Nitinol tube (black curve) for stiffness modulation. Four tendons are symmetrically located at the cross section with the same distance to the center. The Nitinol insertion can be achieved manually (in this paper) or via precise lin... More
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The TDCT soft robot can be separated by the transition point. Segment 1 is ...
Published Online: November 25, 2022
Fig. 2 The TDCT soft robot can be separated by the transition point. Segment 1 is the region without Nitinol backbone (assume that the Nitinol backbone insertion depth is less than the TDCT soft robot length), while segment 2 is the overlapped region of Nitinol backbone and silicone body. More
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Force analysis of segment 2 based on Cosserat rod theory: ( a ) The tendon ...
Published Online: November 25, 2022
Fig. 3 Force analysis of segment 2 based on Cosserat rod theory: ( a ) The tendon wire is subjected to internal tension τ t and reaction force − f t from silicone body, ( b ) Silicone body is subjected to interaction forces and moments from tendon wires f t , Nitinol backbon... More
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Experimental setup for mechanics model validation with single tendon actuat...
Published Online: November 25, 2022
Fig. 4 Experimental setup for mechanics model validation with single tendon actuated and applying loads that align with the bending plane. The FBG sensor unit is used to acquire shape data. More
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Experimental setup for mechanics model validation with multiple tendons act...
Published Online: November 25, 2022
Fig. 5 Experimental setup for mechanics model validation with multiple tendons actuated and applying loads that not align with the bending plane More
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Comparison of the modeling and experimental shape of the TDCT soft robot
Published Online: November 25, 2022
Fig. 6 Comparison of the modeling and experimental shape of the TDCT soft robot More
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Comparison of the modeling and experimental shape of the TDCT soft robot in...
Published Online: November 25, 2022
Fig. 7 Comparison of the modeling and experimental shape of the TDCT soft robot in 3D space. The black arrow indicates the external load: ( a ) The shape with no black arrow at the tip is subjected to single tendon force, and the other shape is subject to both the tendon force and external load an... More
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( a ) TDCT soft robot deformation caused by the varying Nitinol backbone in...
Published Online: November 25, 2022
Fig. 8 ( a ) TDCT soft robot deformation caused by the varying Nitinol backbone insertions. The arrow indicates the direction of soft robot tip motion while inserting the Nitinol backbone and ( b ) The workspace of the TDCT soft robot with/without the Nitinol backbone insertion DoF. The Nitinol ba... More
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Soft robot tip pose with various insertion depths of Nitinol backbone. In a...
Published Online: November 25, 2022
Fig. 9 Soft robot tip pose with various insertion depths of Nitinol backbone. In all cases, tip load is set to zero, tendon tension τ is increased from 0 N to 10 N with 1 N per increment, and the Nitinol backbone insertion depth increases from 0 mm to 150 mm with 10 mm per increment: ( a ) and (... More
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CE projected in     μ  2    –    μ  3     plane with various Nitinol backbo...
Published Online: November 25, 2022
Fig. 10 CE projected in μ 2 – μ 3 plane with various Nitinol backbone insertion and constant tendon tension, where μ 1 , μ 2 , μ 3 are eigenvectors of CM. The dimension of the CE becomes smaller with Nitinol backbone inserted, indicating the stiffness of th... More
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The relationship between eigen value  λ  and Nitinol backbone insertion dep...
Published Online: November 25, 2022
Fig. 11 The relationship between eigen value λ and Nitinol backbone insertion depth with various tendon tensions. The dimension of CE significantly decreases as the insertion depth increases. This shows that the stiffness of the TDCT robot tip is enhanced caused by the Nitinol backbone. More