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RISAdditively-Manufactured Servopumps for Soft Robots
Publisher: The American Society of Mechanical Engineers (ASME)
Abstract: In contrast to soft robots, typical electromechanical robotic systems are able to leverage a wide range of available brushless servomotors and compatible gear reduction devices. This makes the selection of components to ...
Additively-Manufactured Servopumps for Soft Robots
Publisher: The American Society of Mechanical Engineers (ASME)
Abstract: In contrast to soft robots, typical electromechanical robotic systems are able to leverage a wide range of available brushless servomotors and compatible gear reduction devices. This makes the selection of components to ...
An Integrated Frameless Motor Gerotor Pump for Hydraulic Actuation of Soft Robots
Publisher: The American Society of Mechanical Engineers (ASME)
Abstract: Abstract. This work presents a novel geometry for a gerotor hydraulic pump integrated into the rotor of a brushless, direct-current, frameless motor. The design eliminates excess dynamic seals and produces a pump that is ...
Design, Model, and Experimental Validation of a Pneumatic Boost Converter
Publisher: The American Society of Mechanical Engineers (ASME)
Abstract: This paper presents the design and dynamic model for a novel prototype pneumatic boost converter, a device developed to be an energetic equivalent to the electrical boost converter. The design of the system selects pneumatic ...
Bond Graph Modeling of Mechanical Circulatory Support Device—Cardiovascular System Interactions
Publisher: The American Society of Mechanical Engineers (ASME)
Abstract: Though mechanical circulatory support (MCS) devices, such as ventricular assist devices and total artificial hearts (TAH), provide heart failure patients with bridges to heart transplantation or are alternatives to ...
A 3D Discrete Elastic Rod Model and Observer for Continuum Robots
Publisher: The American Society of Mechanical Engineers (ASME)
Abstract: Abstract. Soft and continuum robots have unique advantages and capabilities useful in medical applications and confined environments due to their highly flexible structure. However, their underactuation and theoretically ...
Variable Stiffness and Impedance Control of a Soft Pneumatic Actuator With Tunable Collision Dynamics and Trajectory Following
Publisher: The American Society of Mechanical Engineers (ASME)
Abstract: Abstract. State-of-the-art soft manipulators are unable to vary stiffness continuously, are complex to manufacture, and have limited control bandwidth. In this work, we present a novel planar bidirectional pneumatically ...
Design and Control of an Magnetic Resonance Compatible Precision Pneumatic Active Cannula Robot
Publisher: The American Society of Mechanical Engineers (ASME)
Abstract: The versatile uses and excellent soft tissue distinction afforded by magnetic resonance imaging (MRI) has led to the development of many MRcompatible devices for MRIguided interventions. This paper presents a fully pneumatic ...
The High Inertance Free Piston Engine Compressor—Part I: Dynamic Modeling
Publisher: The American Society of Mechanical Engineers (ASME)
Abstract: Free piston engine compressors have recently been investigated for the purpose of providing a high pressure air supply for untethered, pneumatically actuated robotic systems. Given that free piston engine performance is ...
The High Inertance Free Piston Engine Compressor—Part II: Design and Experimental Evaluation
Publisher: The American Society of Mechanical Engineers (ASME)
Abstract: Pneumatically actuated robotic systems are attractive alternatives to traditional electromechanical systems due to the power density advantage of pneumatic actuators. This assumes that a power source is available to provide ...