Enhancing the Performance of Pneu-net Actuators Using a Torsion Resistant Strain Limiting Layer

Pneunets are the primary form of soft robotic grippers. A key limitation to their wider adoption is their inability to grasp larger payloads due to objects slipping out of grasps. We have overcome this limitation by introducing a torsionally rigid strain limiting layer (TRL). This reduces out-of-plane bending while maintaining the gripper's softness and in-plane flexibility. We characterize the design space of the strain limiting layer for a Pneu-net gripper using simulation and experiment and map bending angle and relative grip strength. We found that the use of our TRL reduced out-of-plane bending by up to 97.7% in testing compared to a benchmark Pneu-net gripper from the Soft Robotics Toolkit. We demonstrate a lifting capacity of 5kg when loading using the TRL. We also see a relative improvement in peak grip force of 3N and stiffness of 1200N/m compared to 1N and 150N/m for a Pneu-net gripper without our TRL at equal pressures. Finally, we test the TRL gripper on a suite of six YCB objects above the demonstrated capability of a traditional Pneu-net gripper. We show success on all but one demonstrating significant increased capabilities.

Expanding the Design Space for Electrically-Driven Soft Robots through Handed Shearing Auxetics

Handed Shearing Auxetics (HSA) are a promising structure for making electrically driven robots with distributed compliance that convert a motors rotation and torque into extension and force. We overcame past limitations on the range of actuation, blocked force, and stiffness by focusing on two key design parameters: the point of an HSA's auxetic trajectory that is energetically preferred, and the number of cells along the HSAs length. Modeling the HSA as a programmable spring, we characterize the effect of both on blocked force, minimum energy length, spring constant, angle range and holding torque. We also examined the effect viscoelasticity has on actuation forces over time. By varying the auxetic trajectory point, we were able to make actuators that can push, pull, or do both. We expanded the range of forces possible from 5N to 150N, and the range of stiffness from 2 N/mm to 89 N/mm. For a fixed point on the auxetic trajectory, we found decreasing length can improve force output, at the expense of needing higher torques, and having a shorter throw. We also found that the viscoelastic effects can limit the amount of force a 3D printed HSA can apply over time.