Development of a flexible manipulator with changing stiffness by granular jamming

Shoma Yamane; Shuichi Wakimoto

doi:10.1109/M2VIP.2017.8211491

Development of a flexible manipulator with changing stiffness by granular jamming

Shoma Yamane, Shuichi Wakimoto

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution

2 Citations (Scopus)

Abstract

An octopus arm is boneless and mostly composed of muscles placed in the various directions around the nerve. The muscle is placed in three directions mainly, the octopus arm can perform multiple functions such as the contracting, bending, torsion, and stiffness change by driving the muscles selectively. We have developed a flexible manipulator using thin McKibben actuators by imitating the structure of the octopus arm. Various movements are possible by driving artificial muscles. However stiffness change of the manipulator is not enough. On the other hand, the mechanism with variable stiffness is achieved by using granular jamming. In this paper, we add granular jamming mechanism to the flexible manipulator for aiming widely stiffness change. First, to understand an effect by granular jamming, the cylindrical rubber including particles is configured and tested. Next the flexible manipulator with variable stiffness function is fabricated using this cylinder and the artificial muscles. Moreover, we make a multistage flexible manipulator.

Original language	English
Title of host publication	2017 24th International Conference on Mechatronics and Machine Vision in Practice, M2VIP 2017
Publisher	Institute of Electrical and Electronics Engineers Inc.
Pages	1-5
Number of pages	5
Volume	2017-December
ISBN (Electronic)	9781509065462
DOIs	https://doi.org/10.1109/M2VIP.2017.8211491
Publication status	Published - Dec 14 2017
Event	24th International Conference on Mechatronics and Machine Vision in Practice, M2VIP 2017 - Auckland, New Zealand Duration: Nov 21 2017 → Nov 23 2017

Other

Other	24th International Conference on Mechatronics and Machine Vision in Practice, M2VIP 2017
Country	New Zealand
City	Auckland
Period	11/21/17 → 11/23/17

Keywords

biomimetic robot
pneumatic artificial muscle
soft mechanism
variable stiffness

ASJC Scopus subject areas

Mechanical Engineering
Artificial Intelligence
Computer Vision and Pattern Recognition
Control and Optimization

Access to Document

10.1109/M2VIP.2017.8211491

Fingerprint Dive into the research topics of 'Development of a flexible manipulator with changing stiffness by granular jamming'. Together they form a unique fingerprint.

Cite this

Yamane, S., & Wakimoto, S. (2017). Development of a flexible manipulator with changing stiffness by granular jamming. In 2017 24th International Conference on Mechatronics and Machine Vision in Practice, M2VIP 2017 (Vol. 2017-December, pp. 1-5). Institute of Electrical and Electronics Engineers Inc.. https://doi.org/10.1109/M2VIP.2017.8211491

Development of a flexible manipulator with changing stiffness by granular jamming. / Yamane, Shoma; Wakimoto, Shuichi.

2017 24th International Conference on Mechatronics and Machine Vision in Practice, M2VIP 2017. Vol. 2017-December Institute of Electrical and Electronics Engineers Inc., 2017. p. 1-5.

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution

Yamane, S & Wakimoto, S 2017, Development of a flexible manipulator with changing stiffness by granular jamming. in 2017 24th International Conference on Mechatronics and Machine Vision in Practice, M2VIP 2017. vol. 2017-December, Institute of Electrical and Electronics Engineers Inc., pp. 1-5, 24th International Conference on Mechatronics and Machine Vision in Practice, M2VIP 2017, Auckland, New Zealand, 11/21/17. https://doi.org/10.1109/M2VIP.2017.8211491

@inproceedings{d070538094ed4114be25c4480a737e48,

title = "Development of a flexible manipulator with changing stiffness by granular jamming",

abstract = "An octopus arm is boneless and mostly composed of muscles placed in the various directions around the nerve. The muscle is placed in three directions mainly, the octopus arm can perform multiple functions such as the contracting, bending, torsion, and stiffness change by driving the muscles selectively. We have developed a flexible manipulator using thin McKibben actuators by imitating the structure of the octopus arm. Various movements are possible by driving artificial muscles. However stiffness change of the manipulator is not enough. On the other hand, the mechanism with variable stiffness is achieved by using granular jamming. In this paper, we add granular jamming mechanism to the flexible manipulator for aiming widely stiffness change. First, to understand an effect by granular jamming, the cylindrical rubber including particles is configured and tested. Next the flexible manipulator with variable stiffness function is fabricated using this cylinder and the artificial muscles. Moreover, we make a multistage flexible manipulator.",

keywords = "biomimetic robot, pneumatic artificial muscle, soft mechanism, variable stiffness",

author = "Shoma Yamane and Shuichi Wakimoto",

year = "2017",

month = dec,

day = "14",

doi = "10.1109/M2VIP.2017.8211491",

language = "English",

volume = "2017-December",

pages = "1--5",

booktitle = "2017 24th International Conference on Mechatronics and Machine Vision in Practice, M2VIP 2017",

publisher = "Institute of Electrical and Electronics Engineers Inc.",

note = "24th International Conference on Mechatronics and Machine Vision in Practice, M2VIP 2017 ; Conference date: 21-11-2017 Through 23-11-2017",

}

TY - GEN

T1 - Development of a flexible manipulator with changing stiffness by granular jamming

AU - Yamane, Shoma

AU - Wakimoto, Shuichi

PY - 2017/12/14

Y1 - 2017/12/14

N2 - An octopus arm is boneless and mostly composed of muscles placed in the various directions around the nerve. The muscle is placed in three directions mainly, the octopus arm can perform multiple functions such as the contracting, bending, torsion, and stiffness change by driving the muscles selectively. We have developed a flexible manipulator using thin McKibben actuators by imitating the structure of the octopus arm. Various movements are possible by driving artificial muscles. However stiffness change of the manipulator is not enough. On the other hand, the mechanism with variable stiffness is achieved by using granular jamming. In this paper, we add granular jamming mechanism to the flexible manipulator for aiming widely stiffness change. First, to understand an effect by granular jamming, the cylindrical rubber including particles is configured and tested. Next the flexible manipulator with variable stiffness function is fabricated using this cylinder and the artificial muscles. Moreover, we make a multistage flexible manipulator.

AB - An octopus arm is boneless and mostly composed of muscles placed in the various directions around the nerve. The muscle is placed in three directions mainly, the octopus arm can perform multiple functions such as the contracting, bending, torsion, and stiffness change by driving the muscles selectively. We have developed a flexible manipulator using thin McKibben actuators by imitating the structure of the octopus arm. Various movements are possible by driving artificial muscles. However stiffness change of the manipulator is not enough. On the other hand, the mechanism with variable stiffness is achieved by using granular jamming. In this paper, we add granular jamming mechanism to the flexible manipulator for aiming widely stiffness change. First, to understand an effect by granular jamming, the cylindrical rubber including particles is configured and tested. Next the flexible manipulator with variable stiffness function is fabricated using this cylinder and the artificial muscles. Moreover, we make a multistage flexible manipulator.

KW - biomimetic robot

KW - pneumatic artificial muscle

KW - soft mechanism

KW - variable stiffness

UR - http://www.scopus.com/inward/record.url?scp=85048485728&partnerID=8YFLogxK

UR - http://www.scopus.com/inward/citedby.url?scp=85048485728&partnerID=8YFLogxK

U2 - 10.1109/M2VIP.2017.8211491

DO - 10.1109/M2VIP.2017.8211491

M3 - Conference contribution

AN - SCOPUS:85048485728

VL - 2017-December

SP - 1

EP - 5

BT - 2017 24th International Conference on Mechatronics and Machine Vision in Practice, M2VIP 2017

PB - Institute of Electrical and Electronics Engineers Inc.

T2 - 24th International Conference on Mechatronics and Machine Vision in Practice, M2VIP 2017

Y2 - 21 November 2017 through 23 November 2017

ER -