Abstract
Purpose of ReviewThe new paradigm of soft robotics has been widely developed in the international robotics community. These robots being soft can be used in applications where delicate yet effective interaction is necessary. Soft grippers and manipulators are important, and their actuation is a fundamental area of study. The main purpose of this work is to provide readers with fast references to actuation technologies for soft robotic grippers in relation to their intended application.Recent FindingsThe authors have surveyed recent findings on actuation technologies for soft grippers. They presented six major kinds of technologies which are either used independently for actuation or in combination, e.g., pneumatic actuation combined with electro-adhesion, for certain applications.SummaryA review on the latest actuation technologies for soft grippers and manipulators is presented. Readers will get a guide on the various methods of technology utilization based on the application.
Highlights
Soft robotics has introduced the world to a new class of robots that has helped the researchers in finding solutions to the problems that rigid systems are not able to cope with
In [1], the authors provided an overview for the readers about existing soft robotic grippers, the materials used in their fabrication, and their different designs
Tawk et al enhanced the capabilities of a pneumatically actuated soft gripper by adding structures inspired by Fin-Ray effect such that objects of different shapes, stiffness, and weight could be efficiently grasped [15]
Summary
Soft robotics has introduced the world to a new class of robots that has helped the researchers in finding solutions to the problems that rigid systems are not able to cope with. Hughes et al reviewed the state of the art for soft manipulators in their paper, focusing on the material and fabrication processes, actuation technologies, sensing methods, and structures They mentioned that further research is needed to develop systems with increased speeds and precision that can expand the applications of manipulators in the fields of agriculture and industry [3]. Pneumatic actuation (Table 1) is the most popular type of actuation used in soft robots for gripping various objects by using positive pressures It is based on pressurizing purposively designed soft chambers so as to have pre-set deformations, like bending (Fig. 2). Researchers have utilized this type of actuation for different targeted applications. Grasping of various objects under dry as well as wet and slippery conditions Handling and manipulation of delicate produce in horticultural applications pneumatically actuated manipulator with a functional tip; targeted for surgical applications
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