Compliant Electric Actuators Based on Handed Shearing Auxetics
Name
Chin-2018-robosoft_HSA_hands.pdf
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4.25 MB
Format
Adobe PDF
Checksum (MD5)
8bb55a933ba086a51b128ba240648788
Author(s)
Chin, Lillian T.
Lipton, Jeffrey I
MacCurdy, Robert
Romanishin, John W
Sharma, Chetan
Rus, Daniela L
Date Issued
April 2018
Journal
IEEE International Conference on Soft Robotics, 2018
Publisher
Institute of Electrical and Electronics Engineers (IEEE)
Citation
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.
Version
Author's final manuscript
Abstract
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.
MIT Department
Massachusetts 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
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DOI of Published Version
https://ras.papercept.net/conferences/conferences/ROSO18/program/ROSO18_ContentListWeb_2.html#wett_09
