Compliant Electric Actuators Based on Handed Shearing Auxetics
Author(s)Chin, Lillian T.; Lipton, Jeffrey I; MacCurdy, Robert; Romanishin, John W; Sharma, Chetan; Rus, Daniela L; ... Show more Show less
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In this paper, we explore a new class of electric motor-driven compliant actuators based on handed shearing auxetic cylinders. This technique combines the benefits of compliant bodies from soft robotic actuators with the simplicity of direct coupling to electric motors. We demonstrate the effectiveness of this technique by creating linear actuators, a four degree-of-freedom robotic platform, and a soft robotic gripper. We compare the soft robotic gripper against a state of the art pneumatic soft gripper, finding similar grasping performance in a significantly smaller and more energy-efficient package.
DepartmentMassachusetts Institute of Technology. Computer Science and Artificial Intelligence Laboratory; Massachusetts Institute of Technology. Department of Electrical Engineering and Computer Science; Massachusetts Institute of Technology. Department of Mechanical Engineering
IEEE International Conference on Soft Robotics, 2018
Institute of Electrical and Electronics Engineers (IEEE)
Chin, Lillian, Jeffrey Lipton, Robert MacCurdy, John Romanishin, Chetan Sharma, and Daniela Rus. "Compliant Electric Actuators Based on Handed Shearing Auxetics." IEEE International Conference on Soft Robotics, Livorno, Italy, April 24-28 2018.
Author's final manuscript