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Compliant Electric Actuators Based on Handed Shearing Auxetics

dc.contributor.authorChin, Lillian T.
dc.contributor.authorLipton, Jeffrey I
dc.contributor.authorMacCurdy, Robert
dc.contributor.authorRomanishin, John W
dc.contributor.authorSharma, Chetan
dc.contributor.authorRus, Daniela L
dc.date.accessioned2018-07-11T17:53:37Z
dc.date.available2018-07-11T17:53:37Z
dc.date.issued2018-04
dc.identifier.urihttp://hdl.handle.net/1721.1/116908
dc.description.abstractIn 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.en_US
dc.description.sponsorshipBoeing Companyen_US
dc.description.sponsorshipNational Science Foundation (U.S.) (grant numbers NSF IIS- 1226883)en_US
dc.description.sponsorshipNational Science Foundation (U.S.) (grant numbers NSF CCF-1138967)en_US
dc.language.isoen_US
dc.publisherInstitute of Electrical and Electronics Engineers (IEEE)en_US
dc.relation.isversionofhttps://ras.papercept.net/conferences/conferences/ROSO18/program/ROSO18_ContentListWeb_2.html#wett_09en_US
dc.rightsCreative Commons Attribution-Noncommercial-Share Alikeen_US
dc.rights.urihttp://creativecommons.org/licenses/by-nc-sa/4.0/en_US
dc.sourceChinen_US
dc.titleCompliant Electric Actuators Based on Handed Shearing Auxeticsen_US
dc.typeArticleen_US
dc.identifier.citationChin, 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.en_US
dc.contributor.departmentMassachusetts Institute of Technology. Computer Science and Artificial Intelligence Laboratoryen_US
dc.contributor.departmentMassachusetts Institute of Technology. Department of Electrical Engineering and Computer Scienceen_US
dc.contributor.departmentMassachusetts Institute of Technology. Department of Mechanical Engineeringen_US
dc.contributor.approverChin, Lillianen_US
dc.contributor.mitauthorChin, Lillian T.
dc.contributor.mitauthorLipton, Jeffrey I
dc.contributor.mitauthorMacCurdy, Robert
dc.contributor.mitauthorRomanishin, John W
dc.contributor.mitauthorSharma, Chetan
dc.contributor.mitauthorRus, Daniela L
dc.relation.journalIEEE International Conference on Soft Robotics, 2018en_US
dc.eprint.versionAuthor's final manuscripten_US
dc.type.urihttp://purl.org/eprint/type/ConferencePaperen_US
eprint.statushttp://purl.org/eprint/status/NonPeerRevieweden_US
dspace.orderedauthorsChin, Lillian; Lipton, Jeffrey; MacCurdy, Robert; Romanishin, John; Sharma, Chetan; Rus, Danielaen_US
dspace.embargo.termsNen_US
dc.identifier.orcidhttps://orcid.org/0000-0003-4083-5275
dc.identifier.orcidhttps://orcid.org/0000-0002-1726-151X
dc.identifier.orcidhttps://orcid.org/0000-0001-6742-7592
dc.identifier.orcidhttps://orcid.org/0000-0001-5473-3566
mit.licenseOPEN_ACCESS_POLICYen_US


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