The Experts below are selected from a list of 90 Experts worldwide ranked by ideXlab platform

Gursel Alici - One of the best experts on this subject based on the ideXlab platform.

  • RoboSoft - Position Control of a 3D Printed Soft Finger with Integrated Soft Pneumatic Sensing Chambers
    2020 3rd IEEE International Conference on Soft Robotics (RoboSoft), 2020
    Co-Authors: Charbel Tawk, Emre Sariyildiz, Hao Zhou, Marc In Het Panhuis, Geoffrey M. Spinks, Gursel Alici
    Abstract:

    Soft robots require robust soft and flexible sensors that can undergo large deformations repeatedly. This work reports on soft robotic fingers with embedded soft pneumatic sensing chambers that are directly 3D printed without requiring postprocessing. A low-cost and open-source fused deposition modeling (FDM) 3D printer that employs an off-the-shelf soft Thermoplastic poly(urethane) (TPU) was used to fabricate the monolithic fingers and sensing chambers. These pneumatic sensing chambers have multiple advantages including very fast response to any change in their internal volume, linearity, negligible hysteresis, repeatability, reliability, stability over time, long lifetime and very low power consumption. The performance of these chambers is accurately predicted, and their topologies are optimized using finite element modeling (FEM). Also, the flexion of the soft robotic finger is predicted using a geometric model for use in real-time position control. The position control of the soft robotic finger is achieved using feedback signals from the soft pneumatic sensing chambers embedded in the finger.

  • RoboSoft - A 3D Printed Soft Force Sensor for Soft Haptics
    2020 3rd IEEE International Conference on Soft Robotics (RoboSoft), 2020
    Co-Authors: Dilpreet Singh, Charbel Tawk, Emre Sariyildiz, Rahim Mutlu, Vitor Sencadas, Gursel Alici
    Abstract:

    Rehabilitation robotics is one of the major subfields in robotics that is growing rapidly. Neurological disorders, such as stroke, reduce the strength of muscles and the sensation of limbs of a stroke survivor. Soft haptics can be utilized to develop highly compliant soft biofeedback systems that comprise of soft sensors and actuators. Soft sensors are adaptable, conformal and safe for use in devices involving human-machine interaction. This study presents a soft 3D printed resistive force sensor that can be directly manufactured using a low-cost and open-source fused deposition modeling (FDM) 3D printer that uses a commercially available conductive Thermoplastic poly(urethane) (TPU). Finite element modeling (FEM) is used to predict accurately the behavior of a single soft resistive sensor under applied mechanical loads. The electrical and mechanical characterization results of the sensor correlate the numerical results with reasonable accuracy. Under an applied mechanical deformation, there is a linear relationship between the output resistance of the sensor and the force generated. This soft force sensor can be tailored to biofeedback systems where it can be implemented and customized using 3D printing.

  • Position Control of a 3D Printed Soft Finger with Integrated Soft Pneumatic Sensing Chambers
    2020 3rd IEEE International Conference on Soft Robotics (RoboSoft), 2020
    Co-Authors: Charbel Tawk, Emre Sariyildiz, Hao Zhou, Marc In Het Panhuis, Geoffrey M. Spinks, Gursel Alici
    Abstract:

    Soft robots require robust soft and flexible sensors that can undergo large deformations repeatedly. This work reports on soft robotic fingers with embedded soft pneumatic sensing chambers that are directly 3D printed without requiring postprocessing. A low-cost and open-source fused deposition modeling (FDM) 3D printer that employs an off-the-shelf soft Thermoplastic poly(urethane) (TPU) was used to fabricate the monolithic fingers and sensing chambers. These pneumatic sensing chambers have multiple advantages including very fast response to any change in their internal volume, linearity, negligible hysteresis, repeatability, reliability, stability over time, long lifetime and very low power consumption. The performance of these chambers is accurately predicted, and their topologies are optimized using finite element modeling (FEM). Also, the flexion of the soft robotic finger is predicted using a geometric model for use in real-time position control. The position control of the soft robotic finger is achieved using feedback signals from the soft pneumatic sensing chambers embedded in the finger.

  • A 3D Printed Soft Force Sensor for Soft Haptics
    2020 3rd IEEE International Conference on Soft Robotics (RoboSoft), 2020
    Co-Authors: Dilpreet Singh, Charbel Tawk, Emre Sariyildiz, Rahim Mutlu, Vitor Sencadas, Gursel Alici
    Abstract:

    Rehabilitation robotics is one of the major subfields in robotics that is growing rapidly. Neurological disorders, such as stroke, reduce the strength of muscles and the sensation of limbs of a stroke survivor. Soft haptics can be utilized to develop highly compliant soft biofeedback systems that comprise of soft sensors and actuators. Soft sensors are adaptable, conformal and safe for use in devices involving human-machine interaction. This study presents a soft 3D printed resistive force sensor that can be directly manufactured using a low-cost and open-source fused deposition modeling (FDM) 3D printer that uses a commercially available conductive Thermoplastic poly(urethane) (TPU). Finite element modeling (FEM) is used to predict accurately the behavior of a single soft resistive sensor under applied mechanical loads. The electrical and mechanical characterization results of the sensor correlate the numerical results with reasonable accuracy. Under an applied mechanical deformation, there is a linear relationship between the output resistance of the sensor and the force generated. This soft force sensor can be tailored to biofeedback systems where it can be implemented and customized using 3D printing.

  • A 3D Printed Soft Robotic Monolithic Unit for Haptic Feedback Devices
    2019 IEEE ASME International Conference on Advanced Intelligent Mechatronics (AIM), 2019
    Co-Authors: Dilpreet Singh, Charbel Tawk, Emre Sariyildiz, Rahim Mutlu, Gursel Alici
    Abstract:

    Stroke is a worldwide health problem causing loss of sensory and motor functions. Biofeedback plays a significant role in the rehabilitation process of stroke patients where various haptic feedback methods and devices are used. Such methods and devices can greatly improve the biofeedback provided during the rehabilitation process. This work proposes a soft monolithic haptic feedback device that can be directly manufactured using a low-cost additive manufacturing technology known as fused deposition modelling (FDM) that employ soft and flexible materials with low elastic moduli. A single unit of the soft haptic feedback device proposed was analyzed using finite element modeling (FEM). The experimental mechanical deformation and force output of the device are presented. A conductive resistive material was used to directly 3D print the sensory component of the device that provides force generated by the soft haptic feedback device when it is in direct contact with the human skin. A Thermoplastic poly(urethane) (TPU) was employed to 3D print the actuation unit of the soft haptic feedback device.

Charbel Tawk - One of the best experts on this subject based on the ideXlab platform.

  • RoboSoft - Position Control of a 3D Printed Soft Finger with Integrated Soft Pneumatic Sensing Chambers
    2020 3rd IEEE International Conference on Soft Robotics (RoboSoft), 2020
    Co-Authors: Charbel Tawk, Emre Sariyildiz, Hao Zhou, Marc In Het Panhuis, Geoffrey M. Spinks, Gursel Alici
    Abstract:

    Soft robots require robust soft and flexible sensors that can undergo large deformations repeatedly. This work reports on soft robotic fingers with embedded soft pneumatic sensing chambers that are directly 3D printed without requiring postprocessing. A low-cost and open-source fused deposition modeling (FDM) 3D printer that employs an off-the-shelf soft Thermoplastic poly(urethane) (TPU) was used to fabricate the monolithic fingers and sensing chambers. These pneumatic sensing chambers have multiple advantages including very fast response to any change in their internal volume, linearity, negligible hysteresis, repeatability, reliability, stability over time, long lifetime and very low power consumption. The performance of these chambers is accurately predicted, and their topologies are optimized using finite element modeling (FEM). Also, the flexion of the soft robotic finger is predicted using a geometric model for use in real-time position control. The position control of the soft robotic finger is achieved using feedback signals from the soft pneumatic sensing chambers embedded in the finger.

  • RoboSoft - A 3D Printed Soft Force Sensor for Soft Haptics
    2020 3rd IEEE International Conference on Soft Robotics (RoboSoft), 2020
    Co-Authors: Dilpreet Singh, Charbel Tawk, Emre Sariyildiz, Rahim Mutlu, Vitor Sencadas, Gursel Alici
    Abstract:

    Rehabilitation robotics is one of the major subfields in robotics that is growing rapidly. Neurological disorders, such as stroke, reduce the strength of muscles and the sensation of limbs of a stroke survivor. Soft haptics can be utilized to develop highly compliant soft biofeedback systems that comprise of soft sensors and actuators. Soft sensors are adaptable, conformal and safe for use in devices involving human-machine interaction. This study presents a soft 3D printed resistive force sensor that can be directly manufactured using a low-cost and open-source fused deposition modeling (FDM) 3D printer that uses a commercially available conductive Thermoplastic poly(urethane) (TPU). Finite element modeling (FEM) is used to predict accurately the behavior of a single soft resistive sensor under applied mechanical loads. The electrical and mechanical characterization results of the sensor correlate the numerical results with reasonable accuracy. Under an applied mechanical deformation, there is a linear relationship between the output resistance of the sensor and the force generated. This soft force sensor can be tailored to biofeedback systems where it can be implemented and customized using 3D printing.

  • Position Control of a 3D Printed Soft Finger with Integrated Soft Pneumatic Sensing Chambers
    2020 3rd IEEE International Conference on Soft Robotics (RoboSoft), 2020
    Co-Authors: Charbel Tawk, Emre Sariyildiz, Hao Zhou, Marc In Het Panhuis, Geoffrey M. Spinks, Gursel Alici
    Abstract:

    Soft robots require robust soft and flexible sensors that can undergo large deformations repeatedly. This work reports on soft robotic fingers with embedded soft pneumatic sensing chambers that are directly 3D printed without requiring postprocessing. A low-cost and open-source fused deposition modeling (FDM) 3D printer that employs an off-the-shelf soft Thermoplastic poly(urethane) (TPU) was used to fabricate the monolithic fingers and sensing chambers. These pneumatic sensing chambers have multiple advantages including very fast response to any change in their internal volume, linearity, negligible hysteresis, repeatability, reliability, stability over time, long lifetime and very low power consumption. The performance of these chambers is accurately predicted, and their topologies are optimized using finite element modeling (FEM). Also, the flexion of the soft robotic finger is predicted using a geometric model for use in real-time position control. The position control of the soft robotic finger is achieved using feedback signals from the soft pneumatic sensing chambers embedded in the finger.

  • A 3D Printed Soft Force Sensor for Soft Haptics
    2020 3rd IEEE International Conference on Soft Robotics (RoboSoft), 2020
    Co-Authors: Dilpreet Singh, Charbel Tawk, Emre Sariyildiz, Rahim Mutlu, Vitor Sencadas, Gursel Alici
    Abstract:

    Rehabilitation robotics is one of the major subfields in robotics that is growing rapidly. Neurological disorders, such as stroke, reduce the strength of muscles and the sensation of limbs of a stroke survivor. Soft haptics can be utilized to develop highly compliant soft biofeedback systems that comprise of soft sensors and actuators. Soft sensors are adaptable, conformal and safe for use in devices involving human-machine interaction. This study presents a soft 3D printed resistive force sensor that can be directly manufactured using a low-cost and open-source fused deposition modeling (FDM) 3D printer that uses a commercially available conductive Thermoplastic poly(urethane) (TPU). Finite element modeling (FEM) is used to predict accurately the behavior of a single soft resistive sensor under applied mechanical loads. The electrical and mechanical characterization results of the sensor correlate the numerical results with reasonable accuracy. Under an applied mechanical deformation, there is a linear relationship between the output resistance of the sensor and the force generated. This soft force sensor can be tailored to biofeedback systems where it can be implemented and customized using 3D printing.

  • A 3D Printed Soft Robotic Monolithic Unit for Haptic Feedback Devices
    2019 IEEE ASME International Conference on Advanced Intelligent Mechatronics (AIM), 2019
    Co-Authors: Dilpreet Singh, Charbel Tawk, Emre Sariyildiz, Rahim Mutlu, Gursel Alici
    Abstract:

    Stroke is a worldwide health problem causing loss of sensory and motor functions. Biofeedback plays a significant role in the rehabilitation process of stroke patients where various haptic feedback methods and devices are used. Such methods and devices can greatly improve the biofeedback provided during the rehabilitation process. This work proposes a soft monolithic haptic feedback device that can be directly manufactured using a low-cost additive manufacturing technology known as fused deposition modelling (FDM) that employ soft and flexible materials with low elastic moduli. A single unit of the soft haptic feedback device proposed was analyzed using finite element modeling (FEM). The experimental mechanical deformation and force output of the device are presented. A conductive resistive material was used to directly 3D print the sensory component of the device that provides force generated by the soft haptic feedback device when it is in direct contact with the human skin. A Thermoplastic poly(urethane) (TPU) was employed to 3D print the actuation unit of the soft haptic feedback device.

Emre Sariyildiz - One of the best experts on this subject based on the ideXlab platform.

  • RoboSoft - Position Control of a 3D Printed Soft Finger with Integrated Soft Pneumatic Sensing Chambers
    2020 3rd IEEE International Conference on Soft Robotics (RoboSoft), 2020
    Co-Authors: Charbel Tawk, Emre Sariyildiz, Hao Zhou, Marc In Het Panhuis, Geoffrey M. Spinks, Gursel Alici
    Abstract:

    Soft robots require robust soft and flexible sensors that can undergo large deformations repeatedly. This work reports on soft robotic fingers with embedded soft pneumatic sensing chambers that are directly 3D printed without requiring postprocessing. A low-cost and open-source fused deposition modeling (FDM) 3D printer that employs an off-the-shelf soft Thermoplastic poly(urethane) (TPU) was used to fabricate the monolithic fingers and sensing chambers. These pneumatic sensing chambers have multiple advantages including very fast response to any change in their internal volume, linearity, negligible hysteresis, repeatability, reliability, stability over time, long lifetime and very low power consumption. The performance of these chambers is accurately predicted, and their topologies are optimized using finite element modeling (FEM). Also, the flexion of the soft robotic finger is predicted using a geometric model for use in real-time position control. The position control of the soft robotic finger is achieved using feedback signals from the soft pneumatic sensing chambers embedded in the finger.

  • RoboSoft - A 3D Printed Soft Force Sensor for Soft Haptics
    2020 3rd IEEE International Conference on Soft Robotics (RoboSoft), 2020
    Co-Authors: Dilpreet Singh, Charbel Tawk, Emre Sariyildiz, Rahim Mutlu, Vitor Sencadas, Gursel Alici
    Abstract:

    Rehabilitation robotics is one of the major subfields in robotics that is growing rapidly. Neurological disorders, such as stroke, reduce the strength of muscles and the sensation of limbs of a stroke survivor. Soft haptics can be utilized to develop highly compliant soft biofeedback systems that comprise of soft sensors and actuators. Soft sensors are adaptable, conformal and safe for use in devices involving human-machine interaction. This study presents a soft 3D printed resistive force sensor that can be directly manufactured using a low-cost and open-source fused deposition modeling (FDM) 3D printer that uses a commercially available conductive Thermoplastic poly(urethane) (TPU). Finite element modeling (FEM) is used to predict accurately the behavior of a single soft resistive sensor under applied mechanical loads. The electrical and mechanical characterization results of the sensor correlate the numerical results with reasonable accuracy. Under an applied mechanical deformation, there is a linear relationship between the output resistance of the sensor and the force generated. This soft force sensor can be tailored to biofeedback systems where it can be implemented and customized using 3D printing.

  • Position Control of a 3D Printed Soft Finger with Integrated Soft Pneumatic Sensing Chambers
    2020 3rd IEEE International Conference on Soft Robotics (RoboSoft), 2020
    Co-Authors: Charbel Tawk, Emre Sariyildiz, Hao Zhou, Marc In Het Panhuis, Geoffrey M. Spinks, Gursel Alici
    Abstract:

    Soft robots require robust soft and flexible sensors that can undergo large deformations repeatedly. This work reports on soft robotic fingers with embedded soft pneumatic sensing chambers that are directly 3D printed without requiring postprocessing. A low-cost and open-source fused deposition modeling (FDM) 3D printer that employs an off-the-shelf soft Thermoplastic poly(urethane) (TPU) was used to fabricate the monolithic fingers and sensing chambers. These pneumatic sensing chambers have multiple advantages including very fast response to any change in their internal volume, linearity, negligible hysteresis, repeatability, reliability, stability over time, long lifetime and very low power consumption. The performance of these chambers is accurately predicted, and their topologies are optimized using finite element modeling (FEM). Also, the flexion of the soft robotic finger is predicted using a geometric model for use in real-time position control. The position control of the soft robotic finger is achieved using feedback signals from the soft pneumatic sensing chambers embedded in the finger.

  • A 3D Printed Soft Force Sensor for Soft Haptics
    2020 3rd IEEE International Conference on Soft Robotics (RoboSoft), 2020
    Co-Authors: Dilpreet Singh, Charbel Tawk, Emre Sariyildiz, Rahim Mutlu, Vitor Sencadas, Gursel Alici
    Abstract:

    Rehabilitation robotics is one of the major subfields in robotics that is growing rapidly. Neurological disorders, such as stroke, reduce the strength of muscles and the sensation of limbs of a stroke survivor. Soft haptics can be utilized to develop highly compliant soft biofeedback systems that comprise of soft sensors and actuators. Soft sensors are adaptable, conformal and safe for use in devices involving human-machine interaction. This study presents a soft 3D printed resistive force sensor that can be directly manufactured using a low-cost and open-source fused deposition modeling (FDM) 3D printer that uses a commercially available conductive Thermoplastic poly(urethane) (TPU). Finite element modeling (FEM) is used to predict accurately the behavior of a single soft resistive sensor under applied mechanical loads. The electrical and mechanical characterization results of the sensor correlate the numerical results with reasonable accuracy. Under an applied mechanical deformation, there is a linear relationship between the output resistance of the sensor and the force generated. This soft force sensor can be tailored to biofeedback systems where it can be implemented and customized using 3D printing.

  • A 3D Printed Soft Robotic Monolithic Unit for Haptic Feedback Devices
    2019 IEEE ASME International Conference on Advanced Intelligent Mechatronics (AIM), 2019
    Co-Authors: Dilpreet Singh, Charbel Tawk, Emre Sariyildiz, Rahim Mutlu, Gursel Alici
    Abstract:

    Stroke is a worldwide health problem causing loss of sensory and motor functions. Biofeedback plays a significant role in the rehabilitation process of stroke patients where various haptic feedback methods and devices are used. Such methods and devices can greatly improve the biofeedback provided during the rehabilitation process. This work proposes a soft monolithic haptic feedback device that can be directly manufactured using a low-cost additive manufacturing technology known as fused deposition modelling (FDM) that employ soft and flexible materials with low elastic moduli. A single unit of the soft haptic feedback device proposed was analyzed using finite element modeling (FEM). The experimental mechanical deformation and force output of the device are presented. A conductive resistive material was used to directly 3D print the sensory component of the device that provides force generated by the soft haptic feedback device when it is in direct contact with the human skin. A Thermoplastic poly(urethane) (TPU) was employed to 3D print the actuation unit of the soft haptic feedback device.

Rahim Mutlu - One of the best experts on this subject based on the ideXlab platform.

  • RoboSoft - A 3D Printed Soft Force Sensor for Soft Haptics
    2020 3rd IEEE International Conference on Soft Robotics (RoboSoft), 2020
    Co-Authors: Dilpreet Singh, Charbel Tawk, Emre Sariyildiz, Rahim Mutlu, Vitor Sencadas, Gursel Alici
    Abstract:

    Rehabilitation robotics is one of the major subfields in robotics that is growing rapidly. Neurological disorders, such as stroke, reduce the strength of muscles and the sensation of limbs of a stroke survivor. Soft haptics can be utilized to develop highly compliant soft biofeedback systems that comprise of soft sensors and actuators. Soft sensors are adaptable, conformal and safe for use in devices involving human-machine interaction. This study presents a soft 3D printed resistive force sensor that can be directly manufactured using a low-cost and open-source fused deposition modeling (FDM) 3D printer that uses a commercially available conductive Thermoplastic poly(urethane) (TPU). Finite element modeling (FEM) is used to predict accurately the behavior of a single soft resistive sensor under applied mechanical loads. The electrical and mechanical characterization results of the sensor correlate the numerical results with reasonable accuracy. Under an applied mechanical deformation, there is a linear relationship between the output resistance of the sensor and the force generated. This soft force sensor can be tailored to biofeedback systems where it can be implemented and customized using 3D printing.

  • A 3D Printed Soft Force Sensor for Soft Haptics
    2020 3rd IEEE International Conference on Soft Robotics (RoboSoft), 2020
    Co-Authors: Dilpreet Singh, Charbel Tawk, Emre Sariyildiz, Rahim Mutlu, Vitor Sencadas, Gursel Alici
    Abstract:

    Rehabilitation robotics is one of the major subfields in robotics that is growing rapidly. Neurological disorders, such as stroke, reduce the strength of muscles and the sensation of limbs of a stroke survivor. Soft haptics can be utilized to develop highly compliant soft biofeedback systems that comprise of soft sensors and actuators. Soft sensors are adaptable, conformal and safe for use in devices involving human-machine interaction. This study presents a soft 3D printed resistive force sensor that can be directly manufactured using a low-cost and open-source fused deposition modeling (FDM) 3D printer that uses a commercially available conductive Thermoplastic poly(urethane) (TPU). Finite element modeling (FEM) is used to predict accurately the behavior of a single soft resistive sensor under applied mechanical loads. The electrical and mechanical characterization results of the sensor correlate the numerical results with reasonable accuracy. Under an applied mechanical deformation, there is a linear relationship between the output resistance of the sensor and the force generated. This soft force sensor can be tailored to biofeedback systems where it can be implemented and customized using 3D printing.

  • A 3D Printed Soft Robotic Monolithic Unit for Haptic Feedback Devices
    2019 IEEE ASME International Conference on Advanced Intelligent Mechatronics (AIM), 2019
    Co-Authors: Dilpreet Singh, Charbel Tawk, Emre Sariyildiz, Rahim Mutlu, Gursel Alici
    Abstract:

    Stroke is a worldwide health problem causing loss of sensory and motor functions. Biofeedback plays a significant role in the rehabilitation process of stroke patients where various haptic feedback methods and devices are used. Such methods and devices can greatly improve the biofeedback provided during the rehabilitation process. This work proposes a soft monolithic haptic feedback device that can be directly manufactured using a low-cost additive manufacturing technology known as fused deposition modelling (FDM) that employ soft and flexible materials with low elastic moduli. A single unit of the soft haptic feedback device proposed was analyzed using finite element modeling (FEM). The experimental mechanical deformation and force output of the device are presented. A conductive resistive material was used to directly 3D print the sensory component of the device that provides force generated by the soft haptic feedback device when it is in direct contact with the human skin. A Thermoplastic poly(urethane) (TPU) was employed to 3D print the actuation unit of the soft haptic feedback device.

  • Fully 3D Printed Monolithic Soft Gripper with High Conformal Grasping Capability
    2019 IEEE ASME International Conference on Advanced Intelligent Mechatronics (AIM), 2019
    Co-Authors: Charbel Tawk, Rahim Mutlu, Gursel Alici
    Abstract:

    The recent advances in material science and engineering disciplines have had a significant impact on the robotics field where numerous bioinspired soft robots have been developed. Roboticists can now develop and fabricate soft robotic systems made of materials with low elasticity using additive manufacturing technologies. One of the most studied classes of soft robotic systems is soft adaptive grippers. In this work, we present a novel fully 3D printed soft pneumatic gripper that incorporates a novel design of soft pneumatic chambers and a bioinspired fin-ray structure for conformal grasping. The soft gripper was printed in a single step using a low-cost and open-source fused deposition modeling (FDM) 3D printer and a commercially available Thermoplastic poly(urethane) (TPU). A soft pneumatic actuator representing each finger of the gripper was optimized using finite element modeling (FEM). The FEM simulations predicted accurately the performance of the actuator in terms of deformation and blocked force. The high conformability of the proposed soft gripper was validated experimentally. The soft gripper was demonstrated lifting a heavy load and grasping a wide variety of objects with different weights, shapes, textures and stiffnesses.

  • AIM - Fully 3D Printed Monolithic Soft Gripper with High Conformal Grasping Capability
    2019 IEEE ASME International Conference on Advanced Intelligent Mechatronics (AIM), 2019
    Co-Authors: Charbel Tawk, Rahim Mutlu, Gursel Alici
    Abstract:

    The recent advances in material science and engineering disciplines have had a significant impact on the robotics field where numerous bioinspired soft robots have been developed. Roboticists can now develop and fabricate soft robotic systems made of materials with low elasticity using additive manufacturing technologies. One of the most studied classes of soft robotic systems is soft adaptive grippers. In this work, we present a novel fully 3D printed soft pneumatic gripper that incorporates a novel design of soft pneumatic chambers and a bioinspired fin-ray structure for conformal grasping. The soft gripper was printed in a single step using a low-cost and open-source fused deposition modeling (FDM) 3D printer and a commercially available Thermoplastic poly(urethane) (TPU). A soft pneumatic actuator representing each finger of the gripper was optimized using finite element modeling (FEM). The FEM simulations predicted accurately the performance of the actuator in terms of deformation and blocked force. The high conformability of the proposed soft gripper was validated experimentally. The soft gripper was demonstrated lifting a heavy load and grasping a wide variety of objects with different weights, shapes, textures and stiffnesses.

Dilpreet Singh - One of the best experts on this subject based on the ideXlab platform.

  • RoboSoft - A 3D Printed Soft Force Sensor for Soft Haptics
    2020 3rd IEEE International Conference on Soft Robotics (RoboSoft), 2020
    Co-Authors: Dilpreet Singh, Charbel Tawk, Emre Sariyildiz, Rahim Mutlu, Vitor Sencadas, Gursel Alici
    Abstract:

    Rehabilitation robotics is one of the major subfields in robotics that is growing rapidly. Neurological disorders, such as stroke, reduce the strength of muscles and the sensation of limbs of a stroke survivor. Soft haptics can be utilized to develop highly compliant soft biofeedback systems that comprise of soft sensors and actuators. Soft sensors are adaptable, conformal and safe for use in devices involving human-machine interaction. This study presents a soft 3D printed resistive force sensor that can be directly manufactured using a low-cost and open-source fused deposition modeling (FDM) 3D printer that uses a commercially available conductive Thermoplastic poly(urethane) (TPU). Finite element modeling (FEM) is used to predict accurately the behavior of a single soft resistive sensor under applied mechanical loads. The electrical and mechanical characterization results of the sensor correlate the numerical results with reasonable accuracy. Under an applied mechanical deformation, there is a linear relationship between the output resistance of the sensor and the force generated. This soft force sensor can be tailored to biofeedback systems where it can be implemented and customized using 3D printing.

  • A 3D Printed Soft Force Sensor for Soft Haptics
    2020 3rd IEEE International Conference on Soft Robotics (RoboSoft), 2020
    Co-Authors: Dilpreet Singh, Charbel Tawk, Emre Sariyildiz, Rahim Mutlu, Vitor Sencadas, Gursel Alici
    Abstract:

    Rehabilitation robotics is one of the major subfields in robotics that is growing rapidly. Neurological disorders, such as stroke, reduce the strength of muscles and the sensation of limbs of a stroke survivor. Soft haptics can be utilized to develop highly compliant soft biofeedback systems that comprise of soft sensors and actuators. Soft sensors are adaptable, conformal and safe for use in devices involving human-machine interaction. This study presents a soft 3D printed resistive force sensor that can be directly manufactured using a low-cost and open-source fused deposition modeling (FDM) 3D printer that uses a commercially available conductive Thermoplastic poly(urethane) (TPU). Finite element modeling (FEM) is used to predict accurately the behavior of a single soft resistive sensor under applied mechanical loads. The electrical and mechanical characterization results of the sensor correlate the numerical results with reasonable accuracy. Under an applied mechanical deformation, there is a linear relationship between the output resistance of the sensor and the force generated. This soft force sensor can be tailored to biofeedback systems where it can be implemented and customized using 3D printing.

  • A 3D Printed Soft Robotic Monolithic Unit for Haptic Feedback Devices
    2019 IEEE ASME International Conference on Advanced Intelligent Mechatronics (AIM), 2019
    Co-Authors: Dilpreet Singh, Charbel Tawk, Emre Sariyildiz, Rahim Mutlu, Gursel Alici
    Abstract:

    Stroke is a worldwide health problem causing loss of sensory and motor functions. Biofeedback plays a significant role in the rehabilitation process of stroke patients where various haptic feedback methods and devices are used. Such methods and devices can greatly improve the biofeedback provided during the rehabilitation process. This work proposes a soft monolithic haptic feedback device that can be directly manufactured using a low-cost additive manufacturing technology known as fused deposition modelling (FDM) that employ soft and flexible materials with low elastic moduli. A single unit of the soft haptic feedback device proposed was analyzed using finite element modeling (FEM). The experimental mechanical deformation and force output of the device are presented. A conductive resistive material was used to directly 3D print the sensory component of the device that provides force generated by the soft haptic feedback device when it is in direct contact with the human skin. A Thermoplastic poly(urethane) (TPU) was employed to 3D print the actuation unit of the soft haptic feedback device.

  • AIM - A 3D Printed Soft Robotic Monolithic Unit for Haptic Feedback Devices
    2019 IEEE ASME International Conference on Advanced Intelligent Mechatronics (AIM), 2019
    Co-Authors: Dilpreet Singh, Charbel Tawk, Emre Sariyildiz, Rahim Mutlu, Gursel Alici
    Abstract:

    Stroke is a worldwide health problem causing loss of sensory and motor functions. Biofeedback plays a significant role in the rehabilitation process of stroke patients where various haptic feedback methods and devices are used. Such methods and devices can greatly improve the biofeedback provided during the rehabilitation process. This work proposes a soft monolithic haptic feedback device that can be directly manufactured using a low-cost additive manufacturing technology known as fused deposition modelling (FDM) that employ soft and flexible materials with low elastic moduli. A single unit of the soft haptic feedback device proposed was analyzed using finite element modeling (FEM). The experimental mechanical deformation and force output of the device are presented. A conductive resistive material was used to directly 3D print the sensory component of the device that provides force generated by the soft haptic feedback device when it is in direct contact with the human skin. A Thermoplastic poly(urethane) (TPU) was employed to 3D print the actuation unit of the soft haptic feedback device.