This work was supported by the EC within the framework of the STIFF-FLOP FP7-ICT-2011.2.1 European Project (#287728).

注意:此协议描述了单个模块，它包括流体腔室，加强槽，致动管线和外部护套的制造阶段。下面的过程有在通风橱，穿着白大褂和手套出于安全原因被执行。如前面提到的，弹性单元的制造过程是基于依次使用设计CAD软件模具。它们是由在图2中所示和表1中所列的 13件。 1.制备有机硅<ol><li>称量12个克A部分和12克B部分在相同的塑料或玻璃培养皿并混合，搅拌。 注意:材料的比例可以根据所用的特定的有机硅发生变化，在这种情况下，它由两部分组成:一部分甲（基）和B部分（催化剂）。它们被用在比例1A:1B的重量。 </li><li>将含有该混合物的玻璃编有机硅材料的脱气机在1巴的真空压力。保持玻璃在真空下，直到所有的气泡从硅材料中除去。对于所采用的聚硅氧烷脱气过程大约需要10分钟。一旦材料是完全无气泡的存在下，还原大气压到机器并使用硅酮。 </li></ol> 2.制作的含硅模块<ol><li>大会的模具。 <ol><li>插入该加强气缸和腔室的顶部成cap_A（图3a）。 </li><li>关闭弹cap_A的第二层周围。 </li></ol></li><li>第一有机硅铸造。 <ol><li>倾里面的组装模具到炮弹（图3b）的边缘的硅酮。 </li><li>放置在烘箱的模具在60℃下进行约30分钟。 </li></ol></li><li>重排的模具。 <ol><li>除去外部壳和cap_A（ 图3C）。 </li><li>插入从腔室的碱和内部cap_B（ 图3d），该加强气缸的气缸。 </li><li>再次关闭弹模块周围，向上为了具有的模块的顶表面和所述壳体（ 图3e）的边缘之间10mm的间隙滑动为10mm它们。 </li></ol></li><li>二硅铸造。 <ol><li>倾内部重排的模具到壳的边缘上的顶侧（即也达至加强气缸）（ 图3f）硅氧烷。 </li><li>把模具放入烘箱中，在60℃下进行约30分钟。 </li><li>去除外部壳，cap_B和腔室（除了所述加强气缸）（ 图3g）。 </li></ol></li></ol> 3.插入管<ol><li>切成3管到同一个期望的长度（300毫米例如）。 </li><li>放含硅胶围绕每个管的一端10毫米，没有作业强县管。 </li><li>插入内部的2毫米专用的含硅单元（图3小时 ）通道的管中。 </li><li>允许在室温下12分钟的固化时间，或将模块的烘箱内，在较高的温度（50° - 60°），以加快干燥过程。 </li></ol> 4.加工的轧花编织鞘<ol><li>裁减700毫米的可膨胀的编织鞘（模块的约15倍的高度）的。 </li><li>插入30毫米直径和250毫米的护套内部长度的金属圆柱体。 </li><li>向下推并通过滑过缸迫使护套，以便创建卷曲。 </li><li>机械地固定所述护套在适当位置的夹紧和热用加热枪在350℃2-3分钟，直到获得一个永久变形。 </li><li>让护套冷静下来，取出内筒。 </li></ol>其外部护套5.整合<ol><li>传通过cap_C的孔管中。 </li><li>倒3克硅到cap_C。 </li><li>夹紧cap_C到支撑比所述工作平面更高。 </li><li>插入预先制成cap_C模块的底侧。 </li><li>滑动模块周围卷曲鞘。 </li><li>推里面cap_C护套的第一卷曲都蘸到新浇铸硅氧烷（图3I）。 </li><li>把模具放入烘箱中，在60℃下约20分钟。 </li><li>从点5.1-5.6重复同样的步骤来解决这个鞘上侧，使用cap_D（ 图3J）。 </li><li>删除cap_C和cap_D。 </li><li>拆下气缸中部（ 图3K）。 </li></ol> 6.制造的颗粒干扰膜<ol><li>倒5克液体乳胶成玻璃胶。 </li><li>浸入气缸对膜的液体胶乳内侧（最后在图2中所示部件），直到表面完全覆盖。 </li><li>让罩20分钟下干燥。 </li><li>重复点6.2和6.3。 </li><li>从模具中取出该膜。 </li></ol> 7.插入颗粒干扰膜<ol><li>切的管（直径2mm），以所希望的长度（300毫米例如）。 </li><li>切平方一块约100毫米2尼龙组织并关闭管的一端与使用塑料石蜡膜或强力胶此组织。 </li><li>称取4克咖啡粉，并填写膜。 </li><li>插入管（端与过滤器）的填充膜的内部，并用塑料膜石蜡修复它围绕管。 </li><li>在管（膜变得更硬）的另一侧施加真空。 </li><li>将含硅模块（ 图升）的空中央通道内的膜。 </li><li>胶水硬化膜的端部的硅氧烷模块。 </li><li>紧密围绕顶环该模块（ 图3米）的一面。 </li><li>倒入2克硅氧烷成环以平的表面上。 </li><li>让下罩或在烘箱中在60℃的有机硅干。 </li><li>取下戒指。 </li><li>从分7.8至7.11的底部（ 图3N）重复。 </li></ol>

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The authors have nothing to disclose.

The technique described in this protocol enables the fabrication of a pneumatically actuated soft unit usable for modular compliant structures. Thanks to the design of the molds and their simple assembly, it is possible to fabricate one complete module in about 4 hours with 7 main steps. The process of fabrication involves specific materials, which are easily available, and work should be carried out under a fume hood. An external set up including air valves, air compressor and vacuum pump is necessary to activate the module motion and stiffening. 
For the fabrication of the soft unit, several elastomeric materials were mechanically tested in order to choose the most suitable for the specific application. Silicone was selected for its high flexibility, low hysteresis, and easy molding. 
The fabrication process is based on simple steps, however various critical aspects should be discussed. The fabrication of the crimped braided sheath, reported in Section 4 of the protocol, starts from a commercial braided sheath in polyester with an internal diameter of 32 mm. The dimensions of the metallic cylinder, used for crimping, have to ensure the right development of the crimps, the necessary space to insert the module (inner diameter) and the sufficient distance between the crimps. These features enable the module to work correctly when the chambers are inflated: the sheath has the function to limit the radial expansion of the silicone when the chambers are inflated, avoiding the &#8220;balloon effect&#8221; of the chambers. Close crimps improve the expansion of the silicone along the motion direction optimizing the bending and the elongation movements. In addition, particular care is needed when heating the sheath in order to prevent overheating, which can degrade the material. 
Considering the fabrication and the insertion of the granular jamming membrane (step 6 in the protocol), the filter on the tip of the vacuum tube is necessary to prevent dispersion of the granular material inside the fluidic system. At the moment, the filter consists of a nylon tissue. However, a miniaturized commercial filter could make the vacuum activation safer. The current membrane used for the granular jamming is made of latex. This material ensures a good level of stiffness when the vacuum is applied. However, this requires more attention: the latex inhibits the polymerization of platinum-catalyzed silicone on the top and bottom of the module. The siliconic glue, mentioned in Section 7.7, fixes the membrane and also isolates the latex from the silicone at the extremity of the module, thus the final polymerizations are guaranteed. 
Multiple units can be integrated in order to obtain a multi-module manipulator. Preliminary research demonstrates the possibility of connecting three modules20, 21 with a functionally modular architecture where each module replicates the same functionalities. However this integration is limited to a maximum of 3 or 4 modules, due to the method of passing the tubes inside the chambers. This method reduces the available space, thus limiting the multi-module approach to a low number of modules.
Future work will focus on integrating on-board valves, thus enhancing the modularity. The same fabrication technique can be used to produce miniaturized modules (quantities should scale accordingly), however the performance decay has not yet been evaluated. The list of materials used, could be further modified to meet more stringent biocompatibility requirements.

在医疗领域最近的趋势正在推动在外科手术的侵入性的降低。微创外科（MIS）已成功地在过去的几年中对于腹部手术改善。 MIS过程基于使用通过放置在腹壁四个或五个接入点（套管针）介绍的工具。为了减少套管针的数量，器械可通过单端口腹腔镜（SPL）或自然腔腔道内窥镜手术（NOTES）1插入。这些程序防止外部醒目的伤痕，但会增加在执行手术难度的临床医生。这个限制主要是由于访问的已缩减点，并把该文书，这是不能够避免或通过周围器官2的刚性和半刚性的性质，3。敏捷和运动可以使用改进的铰接式和超冗余机器人可覆盖一个更宽的和更复杂的工作区，第我们能够在身体的特定目标，以更容易地达到了4，5，6和工作，作为必要时7回缩系统。灵活的机械手可以提高组织的合规性，从而使接触比传统工具更安全。 然而，这些机械手通常缺乏当达到目标稳定性并且通常它们无法控制与周围组织8，接触件9。研究生物结构，诸如章鱼臂 10和象鼻11，最近已激发的设计灵活的，变形的，符合机械手与自由（自由度）度的冗余数量和可控刚度12。这些种类的设备利用被动弹簧，智能材料，气动元件，或筋13，14，15，通常，操纵器制造为柔软而有弹性的材料并不能保证高的力的产生。 Ť他僵硬FLOP（刚度控制的灵活和可学习机械手进行外科手术）机械手已被最近提出作为一种新型的手术设备，用于笔记和SPL灵感来自于章鱼的能力。为了克服以往的软机器人的局限性，它具有柔软的身体以及高灵活性，高力和可控刚度16。 操纵器的体系结构是基于模块化的方法:多个单元，具有相同的结构和功能，是集成在一起。单个单元示于图1，它是根据由一个多相制造而得到的弹性圆柱体。组装步骤的模具组件和铸造工艺的使三个空腔（用于流体致动），以及一个中空的中心通道17（用于容纳粒状干扰系机构 18）将要被嵌入。腔室被放置在120℃，从而使IR结合通胀产生全方位的运动和伸长率。另外一个外部编织鞘被放置在外部时加压，从而优化了腔室的致动的效果在模块运动（弯曲和伸长率），以限制的流体腔室的径向向外扩张。 中心通道容纳填充有颗粒材料的外部膜构成的圆柱形设备。当的真空压力被施加，它改变它的弹性性能引起的硬化从而影响整个模块的属性。 运动和刚度性能由外部设置，包括一空气压缩机和三个压力阀致动腔室，一个真空泵用于激活真空中该硬化信道进行控制。直观的用户界面，允许在模块内部驱动和真空压力的控制。 本文详细介绍了fabricatio这个机械手和报告基本运动能力最显著结果的单个模块的n个过程。考虑到设备的模块化性质，制造和只是一个单一的模块的性能的评估还使得结果进行扩展，并预测一个多模块操纵器集成两个或多个模块的基本行为。

<table><tbody><tr><td>Ecoflex 00-50 Trial Kit</td><td>SmoothOn</td><td></td><td>Used for the fabrication of the soft unit, combining equal amounts of liquid parts A (the base) and B (the catalyst)</td></tr><tr><td>Latex</td><td>Antichit&amp;agrave; Belsito</td><td></td><td>Used for the fabrication of the granular jamming membrane</td></tr><tr><td>Peroxide-Cured Silicone Tubing</td><td>Cole Parmer</td><td>T-06411-59</td><td>Used for actuating the chambers and applying vacuum</td></tr><tr><td>PET expandable braided sleeving</td><td>RS</td><td>408-249</td><td>Used for the fabrication of the external braided sheath</td></tr><tr><td>Silicone Rubber</td><td>Momentive</td><td>127374</td><td>Used to fix the actuation tubes to the module</td></tr><tr><td>Parafilm</td><td>Cole Parmer</td><td>EW-06720-40</td><td>Used to fix the latex membrane to the vacuum tube</td></tr><tr><td>Fume hood Secuflow</td><td>Groupe Waldner</td><td></td><td>Working space</td></tr><tr><td>Precision scale</td><td>KERN EW</td><td></td><td>Used to weight silicone, latex and coffee powder</td></tr><tr><td>Oven/degasser</td><td>Heraeus</td><td></td><td>Used to degass the silicone and reduce its cure time</td></tr><tr><td>Vacuum pump</td><td>DVP Vacuum Technology</td><td></td><td>Used to apply vacuum to the latex membrane</td></tr></tbody></table>

design and fabrication of an elastomeric unit for soft modular robots in minimally invasive surgery

近年来，软机器人技术已经引起了越来越多在​​医疗领域的兴趣，因为它们在非结构化环境本质安全的相互作用。与此同时，新的程序和技术已经被开发，以减少外科手术的侵入性。微创外科（MIS）已成功地用于腹部干预，但是标准的MIS程序主要是基于刚性或半刚性的工具，限制了临床医生的灵巧。本文提出了一种柔软，高灵巧机械臂的管理信息系统。该机器人是由章鱼臂的生物学功能的启发，并采用模块化方法。每个模块提供相同的功能特性，因此实现高灵活性和多功能性时更模块集成。本文详细描述了设计，制造过程和材料所必需的单个单元，这是由制造CASTIN的发展具体的模具内G型硅。结果包含在弹性筒包括三个弹性气动致动器，使延伸率和单元的全向弯曲。外部编织鞘改善了模块的运动。在每个模块的中心的粒状干扰系机构改变该结构的过程中的任务的刚度。测试表明，该模块能够弯曲达120°和伸长高达66％的初始长度的。该模块产生的47 N A最大的力，其硬度可提高达36％。

的制造中，在协议中所描述的各个阶段，示于图3中 。 为了评价该技术的有效性和最终原型的结果，该模块在不同的工作条件下进行测试。外部设置允许两个致动和模块的刚度的控制。它包括空气压缩机，激活三个阀门。它们被连接到集成在腔室中的含硅管和允许他们的加压。的真空泵连接于管集成在粒状干扰膜为模块刚度控制。阀和真空泵连接到一个电子板，它与一个直观的用户界面，允许以设置致动压力和真空能级的值相联系。 分析弯曲（图3）和伸长率（图5）的性能，所述模块固定在底座和室中致动与特定的空气压力。被收购的光学和磁传感器模块的每个位置。为力（图6）的评价和刚度（图7），一个负载传感器移动通过允许测量在不同方向上的模块的功能的机器人手臂。 弯曲试验（图4）评估模块的有源全向能力。在情况1室弯曲，只有一个腔室已被致动内增加压力，而对于2室弯曲，两个室同时被加压相同的​​压力。的弯曲角度，这是基线和塞尖线模块（参见图 4中的插图）之间的角度，已经计算出的模块的每个位置，相应于压力值。该模块是能弯曲达120°在1-室bendi的情况下纳克，和高达80℃的2室弯曲。在这两种情况下，一个显著弯曲开始时的室由大约0.3巴充气（所有报告的压力值与大气压）。在图4中突出情节的曲线增加该值的对应关系的斜率。这表示，其中聚硅氧烷的初始侧向膨胀由外部鞘阻碍了点，和模块的弯曲变得容易。从0.55巴的压力，该曲线是大致恒定，因为护套到达其最大伸长能力，加压腔室已伸出完全可用的鞘，因此硅氧烷的纵向膨胀被限制为对应于最大弯曲的恒定值角度。 当所有三个腔室被同时激励以相同的压力，模块伸长， 如图5。从开始为50毫米的长度，模块达到为83.3毫米，这对应于约66％的伸长率。同样，外皮开始出现在0.3左右吧，那里有伸长能力的突然增加其效果。没有高原出现在高压力，因为伸长率在鞘没有达到它的最大伸长率。 该模块是能够从24.1Ñ产生力，当一个室被致动，高达47.1 N，当三个腔室充气（图6）。 在该加强通道1巴的真空压力（绝对）的激活显示的增加模块的刚度在休息条件36％，19.6％，12.4％和17.2％（图7）在90℃在Y，X弯曲并分别为Z方向。 所提出的协议创建单个软单元和，与各容易修改，相同的过程使以被制造成模块创建一个多模块机器人。为操纵器的一个可能的解决方案是结合其中气动致动通过输油管提供在模块的两个或更多个模块。该驱动管直接驱动第一模块和其他管道可以通过这个模块加压下一个模块的腔室，这表现在模块集成20，21前期工作。在这种情况下，模具的部分是同样，除了具有两个气缸，一个在顶部和一个在底部，用于插入和通过管的腔室。 <img alt="图1" src="/files/ftp_upload/53118/53118fig1.jpg" /> 图1概念模块的机械手和CAD的该机械手是基于一个多模块的方法。单个单元由软气缸嵌入3流体致动器，一个中心通道壳体粒状干扰，三圆周率构成PES供给压力和外部编织鞘，以改善模块的运动。 <img alt="图2" src="/files/ftp_upload/53118/53118fig2.jpg" /> 图2.模具零件的制造工艺。13件总用来组装模具到其中的硅树脂浇注和制造定制的乳胶膜。 <img alt="图3" src="/files/ftp_upload/53118/53118fig3.jpg" /> 图3. CAD的制造阶段。各腔室插入和加强气缸进cap_A（ 一 ），第一硅铸造（B），去除贝壳cap_C（C），引进cap_B（四），该炮弹调运（五），第二硅铸造（F），去除贝壳，cap_B和室（G），插入管（h）中，插入cap_C和鞘为它在底侧固定（i）中，插入cap_D和鞘为它在顶侧（J）的固定，除去cap_D的和加强气缸（k）时，插入粒状干扰膜（ 升 ）的，封闭的模块（ 米 ），最终模块（n）的周围的半环。 <img alt="图4" src="/files/ftp_upload/53118/53118fig4.jpg" /> 图4.弯曲试验。该模块时，一个室被启动（蓝线），当两个腔室被启动（粉红色线）的行为。弯曲角度显示在插图模块上。用于致动模块的范围内的压力从0巴到0.65巴与步长0.05。为模块的每个位置，弯曲角度，计算。这个数字已经被援引[19]。 <html><img alt="图5" src="/files/ftp_upload/53118/53118fig5.jpg" /> 图5.断裂伸长率检测，伸长率在模块的行为。所有三个腔室被同时激励以相同的压力。压力范围从0条至0.65条。对于每一个位置上的伸长率来计算。这个数字已经被援引[19]。 <img alt="图6" src="/files/ftp_upload/53118/53118fig6.jpg" /> 图6.强制测试。沿x方向等距条件评估的力量。负载电池定位在模块的顶部和力，计算在相对于致动室的数目三种不同的情况。这个数字已经被援引[19]。 OAD / 53118 / 53118fig7.jpg"/&gt; 图7.刚度测试。评价在四种不同的配置的刚度变化时同一腔被致动。不同的位移强加于模块采用6自由度机器人的提示。刚度，计算在模块（A）的基本条件，在90℃沿Y，X和 z方向（B，C，D）弯曲。这个数字已经被修改[19]。 <table border="0" cellpadding="0" cellspacing="0" style="width:533px;" width="533"><colgroup><col /><col /><col /></colgroup><tbody><tr height="20"><td height="20" style="height:20px;width:160px;"> 模具部件 </td><td style="width:59px;"> 数 </td><td style="width:315px;"> 描述 </td></tr><tr height="120"><td height="120" style="height:120px;">贝壳</td><td> 2 </td><td style="width:315px;">这些甲肝EA半圆筒状，为40毫米高，为12.5毫米的内半径和14.5毫米的外部半径。当闭合时，它们形成一个代表的含硅单元的形状的圆筒。该弹是捏造的聚甲醛。 </td></tr><tr height="180"><td height="180" style="height:180px;">钱伯斯</td><td> 3 </td><td style="width:315px;">这些室表示的致动腔室的负。它们具有一个半圆筒形状满圆边，30毫米的高度与一个4毫米半径。为了便于介绍致动管道，在每个腔室的底部有一个直径为1.5毫米和13毫米的长度的圆柱体。该室被制造为具有三维打印机的机器。 </td></tr><tr height="85"><td height="85" style="height:85px;width:160px;">加强气缸（用于粒状干扰机制</td><td> 1 </td><td style="width:315px;">这是该硬化通道的负。这是56毫米在高度和直径8mm。它被制造在铝，以便利从含硅圆柱体中心的去除。 </td></tr><tr height="200"><td height="200" style="height:200px;"> cap_A </td><td> 1 </td><td style="width:315px;">这是用于固定和对准上面列出的片的支撑件。它是一个盘10毫米的高度，以用于第一7毫米高度的直径为29毫米和25毫米的其他3毫米，其中外部壳体接近。的腔室的顶部的形状，第二层内部设计，置于在120℃，以3毫米的深度，以便插入顶部的腔室。在盖的中心，直径8mm的孔容纳所述加强槽的圆柱体。 </td></tr><tr height="80"><td height="80" style="height:80px;"> cap_B </td><td> 1 </td><td style="width:315px;">该支撑件类似于cap_A，只是不同的有三个孔，用于引入第二层在腔室的基座设计气缸。 </td></tr><tr height="140"><td height="140" style="height:140px;"> cap_C和cap_D </td><td> 1每个</td><td style="width:315px;">这些载体使护套被固定到模块。它们具有35毫米的内径为8毫米的直径，用于插入所述加强气缸的中心孔。 Cap_C不同于cap_D因为它有直径2mm的3个孔，以使要被插入的管道。 </td></tr><tr height="80"><td height="80" style="height:80px;">半环</td><td> 2 </td><td style="width:315px;">它们具有30毫米的内径和10mm的高度。它们是由铝制成。它们被用在制造的最后阶段，以明确地关闭模块。 </td></tr><tr height="160"><td height="160" style="height:160px;">缸膜</td><td> 1 </td><td style="width:315px;">它被用于定制膜的制造中为第Ë颗粒干扰机制。它为50mm的高度和15mm的直径，并有圆形的末端，以获得一个方便的形状为膜被引入到该模块。在基地之一，细圆柱形部分固定在模具上制膜过程中的支持。 </td></tr></tbody></table> 表1.模具部件。

Watch this Scientific Journal Video about Design and Fabrication of an Elastomeric Unit for Soft Modular Robots in Minimally Invasive Surgery at JoVE.com

Design and Fabrication of an Elastomeric Unit for Soft Modular Robots in Minimally Invasive Surgery

This paper describes the design and fabrication of a soft unit for surgical manipulators. The base module includes three flexible fluidic actuators to achieve omnidirectional bending and elongation, and a granular jamming-based mechanism to enable stiffness control. A complete mechanical characterization is also reported.

设计和弹性股软模块化机器人微创手术制造

In recent years, soft robotics technologies have aroused increasing interest in the medical field due to their intrinsically safe interaction in ...

design-fabrication-an-elastomeric-unit-for-soft-modular-robots

Universidad San Sebastian

Research

JoVE Journal

Bioengineering

8.9K 次观看.  Scuola Superiore Sant'Anna. This paper describes the design and fabrication of a soft unit for surgical manipulators. The base module includes three flexible fluidic actuators to achieve omnidirectional bending and elongation, and a granular jamming-based mechanism to enable stiffness control. A complete mechanical characterization is also reported. 

视频: Design and Fabrication of an Elastomeric Unit for Soft Modular Robots in Minimally Invasive Surgery

Fabrication Process of Silicone-based Dielectric Elastomer Actuators

This contribution demonstrates the fabrication process of dielectric elastomer transducers (DETs). DETs are stretchable capacitors consisting of an elastomeric dielectric membrane sandwiched between two compliant electrodes. The large actuation strains of these transducers when used as actuators (over 300% area strain) and their soft and compliant nature has been exploited for a wide range of applications, including electrically tunable optics, haptic feedback devices, wave-energy harvesting, deformable cell-culture devices, compliant grippers, and propulsion of a bio-inspired fish-like airship. In most cases, DETs are made with a commercial proprietary acrylic elastomer and with hand-applied electrodes of carbon powder or carbon grease. This combination leads to non-reproducible and slow actuators exhibiting viscoelastic creep and a short lifetime. We present here a complete process flow for the reproducible fabrication of DETs based on thin elastomeric silicone films, including casting of thin silicone membranes, membrane release and prestretching, patterning of robust compliant electrodes, assembly and testing. The membranes are cast on flexible polyethylene terephthalate (PET) substrates coated with a water-soluble sacrificial layer for ease of release. The electrodes consist of carbon black particles dispersed into a silicone matrix and patterned using a stamping technique, which leads to precisely-defined compliant electrodes that present a high adhesion to the dielectric membrane on which they are applied.

This manuscript shows the fabrication process for the manufacture of dielectric elastomer soft actuators based on silicone membranes. The three key stages of production are presented in detail: blade casting of thin silicone membranes; pad printing of compliant electrodes; and the assembly of all the components.

有机硅为基础的介电弹性体致动器的制作工艺

This contribution demonstrates the fabrication process of dielectric elastomer transducers (DETs). DETs are stretchable capacitors consisting of an ...

科研

工程学

Fabrication of Soft Pneumatic Network Actuators with Oblique Chambers

Soft pneumatic network actuators have become one of the most promising actuation devices in soft robotics which benefits from their large bending deformation and low input. However, their monotonous bending motion form in two-dimensional (2-D) space keeps them away from wide applications. This paper presents a detailed fabrication method of soft pneumatic network actuators with oblique chambers, to explore their motions in three-dimensional (3-D) space. The design of oblique chambers enables actuators with tunable coupled bending and twisting capabilities, which gives them the possibility to move dexterously in flexible manipulators, to become biologically inspired robots and medical devices. The fabrication process is based on the molding method, including the silicone elastomer preparation, chamber and base parts fabrication, actuator assembly, tubing connections, checks for leaks, and actuator repair. The fabrication method guarantees the rapid manufacturing of a series of actuators with only a few modifications in the molds. The test results show the high quality of the actuators and their prominent bending and twisting capabilities. Experiments of the gripper demonstrate the advantages of the development in adapting to objects with different diameters and providing sufficient friction.

Here we present a fabrication method of soft pneumatic network actuators with oblique chambers. The actuators are capable of generating coupled bending and twisting motions, which broadens their application in soft robotics.

斜腔软气动网络驱动器的研制

Soft pneumatic network actuators have become one of the most promising actuation devices in soft robotics which benefits from their large bending ...

Design and Implementation of a Bespoke Robotic Manipulator for Extra-corporeal Ultrasound

With the potential for high precision, dexterity, and repeatability, a self-tracked robotic system can be employed to assist the acquisition of real-time ultrasound. However, limited numbers of robots designed for extra-corporeal ultrasound have been successfully translated into clinical use. In this study, we aim to build a bespoke robotic manipulator for extra-corporeal ultrasound examination, which is lightweight and has a small footprint. The robot is formed by five specially shaped links and custom-made joint mechanisms for probe manipulation, to cover the necessary range of motion with redundant degrees of freedom to ensure the patient&#39;s safety. The mechanical safety is emphasized with a clutch mechanism, to limit the force applied to patients. As a result of the design, the total weight of the manipulator is less than 2 kg and the length of the manipulator is about 25 cm. The design has been implemented, and simulation, phantom, and volunteer studies have been performed, to validate the range of motion, the ability to make fine adjustments, mechanical reliability, and the safe operation of the clutch. This paper details the design and implementation of the bespoke robotic ultrasound manipulator, with the design and assembly methods illustrated. Testing results to demonstrate the design features and clinical experience of using the system are presented. It is concluded that the current proposed robotic manipulator meets the requirements as a bespoke system for extra-corporeal ultrasound examination and has great potential to be translated into clinical use.

This paper introduces the design and implementation of a bespoke robotic manipulator for extra-corporeal ultrasound examination. The system has five degrees of freedom with lightweight joints made by 3D printing and a mechanical clutch for safety management.

一种用于体外超声的自定义机器人机械手的设计与实现

With the potential for high precision, dexterity, and repeatability, a self-tracked robotic system can be employed to assist the acquisition of real-time ...

Rapid Manufacturing of Thin Soft Pneumatic Actuators and Robots

This protocol describes a method for rapid manufacturing of soft pneumatic actuators and robots with an ultrathin form factor using a heat press and a laser cutter machine. The method starts with the lamination of thermoplastic polyurethane (TPU) sheets using a heat press for 10 min at the temperature of ~93 &#176;C. Next, the parameters of the laser cutter machine are optimized to produce a rectangular balloon with maximum burst pressure. Using the optimized parameters, the soft actuators are laser cut/welded three times sequentially. Next, a dispensing needle is attached to the actuator, allowing it to be inflated. The effect of geometrical parameters on the deflection of the actuator are studied systematically by varying the channel width and length. Finally, the performance of the actuator is characterized using an optical camera and a fluid dispenser. Conventional fabrication methods of soft pneumatic actuators based on silicone molding are time consuming (several hours). They also result in strong but bulky actuators, which limits the actuator&#8217;s applications. Moreover, microfabrication of thin pneumatic actuators is both time-consuming and expensive. The proposed manufacturing method in the current work resolves these issues by introducing a fast, simple, and cost-effective fabrication method of ultrathin pneumatic actuators.

This protocol describes a method for rapid manufacturing of soft pneumatic actuators and robots with a thin form factor. The fabrication method starts with lamination of thermoplastic polyurethane (TPU) sheets followed by laser cutting/welding of a two-dimensional pattern to form actuators and robots.

快速制造薄软气动执行器和机器人

This protocol describes a method for rapid manufacturing of soft pneumatic actuators and robots with an ultrathin form factor using a heat press and a ...

Rod-based Fabrication of Customizable Soft Robotic Pneumatic Gripper Devices for Delicate Tissue Manipulation

Soft compliant gripping is essential in delicate surgical manipulation for minimizing the risk of tissue grip damage caused by high stress concentrations at the point of contact. It can be achieved by complementing traditional rigid grippers with soft robotic pneumatic gripper devices. This manuscript describes a rod-based approach that combined both 3D-printing and a modified soft lithography technique to fabricate the soft pneumatic gripper. In brief, the pneumatic featureless mold with chamber component is 3D-printed and the rods were used to create the pneumatic channels that connect to the chamber. This protocol eliminates the risk of channels occluding during the sealing process and the need for external air source or related control circuit. The soft gripper consists of a chamber filled with air, and one or more gripper arms with a pneumatic channel in each arm connected to the chamber. The pneumatic channel is positioned close to the outer wall to create different stiffness in the gripper arm. Upon compression of the chamber which generates pressure on the pneumatic channel, the gripper arm will bend inward to form a close grip posture because the outer wall area is more compliant. The soft gripper can be inserted into a 3D-printed handling tool with two different control modes for chamber compression: manual gripper mode with a movable piston, and robotic gripper mode with a linear actuator. The double-arm gripper with two actuatable arms was able to pick up objects of sizes up to 2 mm and yet generate lower compressive forces as compared to elastomer-coated and non-coated rigid grippers. The feasibility of having other designs, such as single-arm or hook gripper, was also demonstrated, which further highlighted the customizability of the soft gripper device, and it's potential to be used in delicate surgical manipulation to reduce the risk of tissue grip damage.

This protocol describes a rod-based approach, combining 3D-printing and soft lithography techniques for fabricating the soft gripper devices. This approach eliminates the need for an external air source by incorporating a chamber component and reduces the chance of occlusion during the sealing process, particularly for miniaturized pneumatic channels.

娇嫩的组织操纵定制的软机器人气动设备手爪基于杆制造

Soft compliant gripping is essential in delicate surgical manipulation for minimizing the risk of tissue grip damage caused by high stress concentrations ...

生物工程

Fabrication of Carbon-Based Ionic Electromechanically Active Soft Actuators

Ionic electromechanically active capacitive laminates are a type of smart material that move in response to electrical stimulation. Due to the soft, compliant and biomimetic nature of this deformation, actuators made of the laminate have received increasing interest in soft robotics and (bio)medical applications. However, methods to easily fabricate the active material in large (even industrial) quantities and with a high batch-to-batch and within-batch repeatability are needed to transfer the knowledge from laboratory to industry. This protocol describes a simple, industrially scalable and reproducible method for the fabrication of ionic carbon-based electromechanically active capacitive laminates and the preparation of actuators made thereof. The inclusion of a passive and chemically inert (insoluble) middle layer (e.g., a textile-reinforced polymer network or microporous Teflon) distinguishes the method from others. The protocol is divided into five steps: membrane preparation, electrode preparation, current collector attachment, cutting and shaping, and actuation. Following the protocol results in an active material that can, for example, compliantly grasp and hold a randomly shaped object as demonstrated in the article.

This article describes a fast and simple manufacturing process of ionic electromechanically active composite materials for actuators in biomedical, biomimetic and soft robotics applications. The key fabrication steps, their importance for the actuators&#39; final properties, and some of the main characterization techniques are described in detail.

碳基离子机电活性软执行器的制造

Ionic electromechanically active capacitive laminates are a type of smart material that move in response to electrical stimulation. Due to the soft, ...

Manufacturing, Control, and Performance Evaluation of a Gecko-Inspired Soft Robot

This protocol presents a method for manufacturing, control, and evaluation of the performance of a soft robot that can climb inclined flat surfaces with slopes of up to 84&#176;. The manufacturing method is valid for the fast pneunet bending actuators in general and might, therefore, be interesting for newcomers to the field of actuator manufacturing. The control of the robot is achieved by means of a pneumatic control box that can provide arbitrary pressures and can be built by only using purchased components, a laser cutter, and a soldering iron. For the walking performance of the robot, the pressure-angle calibration plays a crucial role. Therefore, a semi-automated method for the pressure-angle calibration is presented. At high inclines (&#62; 70&#176;), the robot can no longer reliably fix itself to the walking plane. Therefore, the gait pattern is modified to ensure that the feet can be fixed on the walking plane.

This protocol provides a detailed list of steps to be performed for the manufacturing, control and evaluation of the climbing performance of a gecko-inspired soft robot.

壁虎灵感软机器人的制造、控制和性能评估

This protocol presents a method for manufacturing, control, and evaluation of the performance of a soft robot that can climb inclined flat surfaces with ...

通过增强抓握和手指恢复来彻底改变中风康复

A Flexible Wearable Supernumerary Robotic Limb for Chronic Stroke Patients

In this study, we present a flexible wearable supernumerary robotic limb that helps chronic stroke patients with finger rehabilitation and grasping movements. The design of this innovative limb draws inspiration from bending pneumatic muscles and the unique characteristics of an elephant's trunk tip. It places a strong emphasis on crucial factors such as lightweight construction, safety, compliance, waterproofing, and achieving a high output-to-weight/pressure ratio. The proposed structure enables the robotic limb to perform both envelope and fingertip grasping. Human-robot interaction is facilitated through a flexible bending sensor, detecting the wearer's finger movements and connecting them to motion control via a threshold segmentation method. Additionally, the system is portable for versatile daily use. To validate the effectiveness of this innovation, real-world experiments involving six chronic stroke patients and three healthy volunteers were conducted. The feedback received through questionnaires indicates that the designed mechanism holds immense promise in assisting chronic stroke patients with their daily grasping activities, potentially improving their quality of life and rehabilitation outcomes.

作者聚焦：使用灵活的机器人肢体增强偏瘫患者的抓握能力 

This protocol introduces a flexible wearable supernumerary robotic limb tailored to assist in finger rehabilitation for stroke patients. The design incorporates a bending sensor to facilitate seamless human-robot interaction. Validation through experiments involving both healthy volunteers and stroke patients underscores the efficacy and dependability of the proposed study.

一种用于慢性脑卒中患者的柔性可穿戴编外机器人肢体

In this study, we present a flexible wearable supernumerary robotic limb that helps chronic stroke patients with finger rehabilitation and grasping ...

设计和弹性股软模块化机器人微创手术制造

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有机硅为基础的介电弹性体致动器的制作工艺

斜腔软气动网络驱动器的研制

一种用于体外超声的自定义机器人机械手的设计与实现

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