ArticleMicromachines2022
Design and Feasibility Study of MRG-Based Variable Stiffness Soft Robot.
Article in Micromachines, 2022. The graph could read no effect estimate from its abstract, so it casts no vote on the map. Cited by 3 papers.
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The abstract states no effect estimate the extractor could read, or names no intervention and outcome on the map, so this paper lights no cell and moves no belief. It is still indexed, cited and linked below.
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Who cites it
3 citing papers in PubMed.
- Design and Control of Upper Limb Rehabilitation Training Robot Based on a Magnetorheological Joint Damper.Micromachines · 2024Article
- Grasping Performance Analysis and Comparison of Multi-Chamber Ring-Shaped Soft Grippers.Biomimetics (Basel, Switzerland) · 2023Article
- Versatile and Accessible Magnetic Diagnosis Platform with Different Types of Magnetic Particles for Liquid and Solid Biopsies.International journal of molecular sciences · 2023Article
Corrections and comments
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Authors and funding
3 authors.
Funding
Abstract
The conventional pneumatic soft robot has the problem of insufficient stiffness, while in the magnetorheological soft robot, the magnetic field provided by electromagnet has the disadvantage of oversized structure and poor flexibility. This paper presents a variable stiffness pneumatic soft robot based on magnetorheological grease (MRG) to solve these problems. Its three soft fingers cooperate with the adjustable gripper to adjust the gripping range for the robot hand, and it is used to provide gripping driving force through the bending drive. The MRG layer is designed on the gripping surface to provide adaptivity and rigid support for the gripped objects. A magnetic-air structure consisting of a Halbach array and Halbach array actuator is designed inside the soft fingers to provide a flexible magnetic field for the MRG layer. Theoretical and simulation analysis is carried out, and the results show that the state of the MRG changes and the stiffness of the clamping surface changes under the working pressure of 30 kPa. Finally, the experiment further proves the variable and high adaptivity of the surface stiffness of the gripping surface to reduce the damage to the gripped objects.
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Registered trials
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