CN108724166A - Stiffness variable actuator - Google Patents
Stiffness variable actuator Download PDFInfo
- Publication number
- CN108724166A CN108724166A CN201710258747.0A CN201710258747A CN108724166A CN 108724166 A CN108724166 A CN 108724166A CN 201710258747 A CN201710258747 A CN 201710258747A CN 108724166 A CN108724166 A CN 108724166A
- Authority
- CN
- China
- Prior art keywords
- origami structure
- stiffness variable
- paper folding
- end plate
- variable actuator
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
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Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/10—Programme-controlled manipulators characterised by positioning means for manipulator elements
- B25J9/14—Programme-controlled manipulators characterised by positioning means for manipulator elements fluid
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J19/00—Accessories fitted to manipulators, e.g. for monitoring, for viewing; Safety devices combined with or specially adapted for use in connection with manipulators
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J19/00—Accessories fitted to manipulators, e.g. for monitoring, for viewing; Safety devices combined with or specially adapted for use in connection with manipulators
- B25J19/0025—Means for supplying energy to the end effector
Abstract
The invention discloses a kind of stiffness variable actuators, it is suitable for the end effector executing agencies of soft robot, using with unidirectional telescopic stacking pile-up formula origami structure, by the positive and negative pressure for controlling origami structure internal passage, stretching, extension, the compression for driving origami structure, may be implemented the stiffness tuning of actuator.And the soft robot with the stiffness variable actuator is disclosed, which can be adjusted by adaptive self-contained online stiffness variable and realize the crawl for capturing object to unstructured irregular target.The present invention has the advantages that simple in structure, easy to operate, lower-cost.In addition, the present invention realizes " softening " and " hardening " by discharging with the pneumatic mode of intake-gas, specific lower power consumption and higher safety.
Description
Technical field
The present invention relates to soft robot technical fields, more particularly to the stiffness variable actuating for soft robot
Device.
Background technology
Soft robot is a kind of Flexiable robot, and the robot building engineering as emerging rapid growth is led
Domain is with a wide range of applications in man-machine submissive interaction and robot and circumstances not known interaction field.Relative to traditional
Rigid machine people, pressure loading smaller of the soft robot to external world's output, it is not easy to which the application object in environment is caused to damage
Wound or damage, therefore it is applicable to many human-computer interaction occasions, such as healing robot and micro-wound operation robot.With organism
For internal Minimally Invasive Surgery, soft robot will especially have a potentiality in minimally invasive endoscopic surgery, allow it is flexible, can
The endoscope actuator of control reduces the damage to surrounding tissue as far as possible, while providing necessary flexibility and intensity.
The non-metallic flexible materials such as soft robot generally use silicon rubber constitute core driving part, so as in man-machine friendship
Increase flexibility, compressibility and safety in mutually.However, it is to sacrifice machine to use the soft robot based on flexible material
Device people's rigidity is that cost improves compliance.For some special application scenarios, pure soft robot can bring end to tremble, tremble
The problems such as dynamic and implementation capacity is small, limits the application range of soft robot.Therefore, the research of current soft robot and realization
Challenge be robot interacted with the physics of circumstances not known be required to no irregular structure target crawl object realize it is adaptive
Answer self-contained online stiffness variable crawl, that is, soft robot has enough pliabilitys in light condition, and when needs are grabbed
When taking certain objects, the shape of soft robot can change according to the form adaptive for the object to be captured, and software machine
The rigidity of device people also can be according to required grasping force adaptive change.
The design key of soft robot is that its actuator provides corresponding rigidity when executing task action to allow more
Effective power is transmitted.To achieve it, stiffness variable control technology may be used, for example, online stiffness variable.Gu Mingsi
Justice, online stiffness variable are the material or knot of the actuator of soft robot during soft robot executes task action
Structure has the ability of online rigidity controllable in real time, that is, can immediately be changed according to the needs of application scenarios, environment or task rigid
Degree.Realization for stiffness variable soft robot has had already envisaged for using stacking pile-up mechanism.Based on stacking pile-up mechanism
Stacking pile-up mechanism generally includes multilayer chip material, and when these flaky materials are subjected to subnormal ambient, stacking pile-up mechanism is hardened,
Together by material " blocking ", to realize the on-line tuning of rigidity.However, traditional pile-up stiffness tuning mechanism is dependent on all
Such as sand or the particulate matter of coffee grounds, these particulate matters increase the weight of device and occupy device performs effectively space.
Therefore, how while the Grasping skill for effectively improving soft robot holding structure light and be simply urgent need to resolve
Critical issue.
Invention content
Based on this, the present invention proposes a kind of stacking pile-up mode based on paper folding, and software machine is adjusted by pressure control
The new method of the rigidity of the actuator of device people is, it can be achieved that the online controllable and man-machine submissive friendship of the actuator stiffness of soft robot
Mutually.
According to an aspect of the present invention, it proposes a kind of stiffness variable actuators, and it is suitable for the ends of soft robot
End operation executing agency, the stiffness variable actuator include：
Origami structure comprising the paper folding layer of the paper folding layer of multiple stackings, the multiple stacking is folded by tablet,
The tablet constitutes the side wall of the origami structure, the paper folding layer of the multiple stacking around the central shaft of the origami structure
Suitable for squeezing and stretching relative to each other, so that the origami structure is unidirectionally scalable；
Top end plate is fixedly attached to the top of the origami structure；
Bottom end plate is fixedly attached to the bottom end of the origami structure, the top end plate, the bottom end plate and institute
The side wall for stating origami structure defines a paper folding cavity, and the bottom end plate offers through-hole；
Pneumatic pipe, one end pass through the through-hole to be in fluid communication with the paper folding cavity, and the other end is connected to gas
Source；
Elastic film, the outer surface for being wrapped in the top end plate, the bottom end plate and the origami structure are formed
It is gas-tight seal；
Wherein, the gas source is suitable for being discharged into gas to the paper folding cavity by the Pneumatic pipe so that the folding
Paper cavity is in barotropic state, to stretch the origami structure；The gas source is further adapted for taking away by the Pneumatic pipe
Gas in the paper folding cavity so that the paper folding cavity is in negative pressure state, to compression or is bent the origami structure.
The stiffness variable actuator further includes in one of the embodiments,：Gas chamber is activated, with the origami structure
It is coaxially placed on the paper folding intracavitary, and both ends are respectively fixedly connected with to the top end plate and bottom end plate, the gas
Dynamic pipeline passes through one end of the through-hole to be connected to the actuating gas chamber, and the actuating gas chamber is suitable for operationally in volume expansion
Gradual change between state and volume contraction state.
The stiffness variable actuator further includes multiple actuating gas chambers in one of the embodiments, and with it is more
A corresponding multiple Pneumatic pipes of the actuating gas chamber, the multiple actuating gas chamber are suitable for operationally being in not
Same volume swelling state or volume contraction state, so that the origami structure is flexible.
The tablet is constituted by synthesizing paper material in one of the embodiments,.
The tablet includes the multi-ply paper stacked in one of the embodiments,.
The elastic film is made of elastic soft silica gel material in one of the embodiments,.
The gas source is pneumatic diaphragm pump in one of the embodiments,.
According to another aspect of the present invention, it is also proposed that a kind of soft robot comprising at least one above-mentioned variable
Rigidity actuator.
The unidirectional telescopic stacking pile-up formula origami structure of the use of the stiffness variable actuator of the present invention, is rolled over by controlling
The positive and negative pressure of paper structure internal passage drives stretching, extension, the compression of origami structure, the stiffness tuning of actuator may be implemented.Tool
There is the soft robot of the stiffness variable actuator that can adjust by adaptive self-contained online stiffness variable to realize to non-
The crawl of the irregular target crawl object of structuring.The present invention has the advantages that simple in structure, easy to operate, lower-cost.In addition,
The present invention realizes " softening " and " hardening " by discharging with the pneumatic mode of intake-gas, specific lower power consumption and higher peace
Quan Xing.
Description of the drawings
Fig. 1 is the structural schematic diagram according to the stiffness variable actuator of one embodiment of the present of invention；
Fig. 2 illustrates the pattern of folds for the tablet for being folded into origami structure；
Fig. 3 is the vertical view of origami structure；
Fig. 4 A and 4B respectively show the side view that origami structure is in extended configuration and compressive state；
Fig. 5 A and 5B, which are respectively shown, to be connected to the actuating gas chamber of Pneumatic pipe and is in volume expansion state and volume contraction
The schematic diagram of state；
Fig. 6 is the schematic diagram that stiffness variable actuator shown in FIG. 1 is in compression.
Specific implementation mode
In order to make the foregoing objectives, features and advantages of the present invention clearer and more comprehensible, below in conjunction with the accompanying drawings to the present invention
Specific implementation mode be described in detail.Many details are elaborated in the following description in order to fully understand this hair
It is bright.But the invention can be embodied in many other ways as described herein, those skilled in the art can be not
Similar improvement is done in the case of violating intension of the present invention, therefore the present invention is not limited to the specific embodiments disclosed below.
Fig. 1 illustrates the structural schematic diagram of stiffness variable actuator according to an embodiment of the invention.This is variable rigid
Degree actuator is applicable to the end effector executing agency of soft robot, including origami structure 1, top end plate 2, bottom end plate
3, elastic film 4, actuating gas chamber 5 and Pneumatic pipe 6.
Origami structure 1 includes the paper folding layer of multiple stackings, and the paper folding layer of these stackings is folded by tablet.Tablet
It may be constituted by synthesizing paper material, and may include the multi-ply paper stacked.Fig. 2 illustrates the sheet for being folded into origami structure
The pattern of folds of object can fold out origami structure 1 shown in Fig. 3 and 4A-4B according to pattern of folds shown in Fig. 2.Tablet
The side wall that origami structure is constituted around the central shaft of origami structure 1, the paper folding layer for folding multiple stackings of formation are suitable for respect to that
This squeezes and stretches, so that origami structure 1 is unidirectional scalable.Fig. 4 A illustrate the origami structure 1 in extended configuration, Fig. 4 B exhibitions
The origami structure 1 in compressive state is shown.When in extended configuration, the side wall of origami structure has good flexibility,
So that actuator is very soft, and when in its compressed state, the multilayer paper folding layer to press together increases origami structure
The rigidity of side wall so that actuator is hardened.Therefore, origami structure of the invention uses the stacking pile-up mechanism of paper folding, passes through folding
It is adjustable to realize rigidity for the extruding and stretching of paper layer.It will be appreciated by persons skilled in the art that in addition to folding shown in Fig. 2
Folded pattern, can also use any other suitable pattern of folds.
With continued reference to Fig. 1, top ends 2 are fixedly connected on the top of origami structure 1, it is solid in the bottom end of origami structure 1
Surely it is connected with bottom end 3, the side wall of top ends 2, bottom end 3 and origami structure 1 defines paper folding cavity.In paper folding chamber
It is provided with actuating gas chamber 5 in road, activates gas chamber 5 and origami structure 1 is coaxially arranged, both ends are respectively fixedly connected with to top end plate
2 and bottom end plate 3.One end of Pneumatic pipe 6 passes through the through-hole being opened in bottom end plate 3 to be connected to actuating gas chamber 5, with actuating
Gas chamber 5 is in fluid communication.The other end of Pneumatic pipe 6 is connected to gas source, such as pneumatic diaphragm pump (not shown).
It activates gas chamber 5 and is suitable for the operationally Gradual change between volume expansion state and volume contraction state.Such as Fig. 5 A
Shown in 5B, respectively shows and be connected to the actuating gas chamber of Pneumatic pipe and be in volume expansion state and volume contraction state.
When pneumatic diaphragm pump is discharged into gas by Pneumatic pipe 6 to actuating gas chamber 5, actuating chamber volume 5 expands, and works as pneumatic diaphragm
When pump takes gas away by Pneumatic pipe 6 from actuating gas chamber 5, actuating chamber volume 5 is shunk.Activate expansion and the shrinkage band of gas chamber
Dynamic origami structure accordingly stretches or compresses.
In other embodiments, actuating gas chamber may be omitted, Pneumatic pipe is directly flowed with the paper folding cavity in origami structure
Body is connected to.In this case, when pneumatic diaphragm pump is discharged into gas by Pneumatic pipe to paper folding cavity, paper folding cavity is in
Barotropic state, so that origami structure is extended, it is intended to or be maintained at predetermined shape, and when pneumatic diaphragm pump pass through it is pneumatic
When pipeline takes the gas in paper folding cavity away, paper folding cavity is in negative pressure state, so that origami structure is compressed.Thus may be used
See, even if not activating gas chamber, can also realize that the rigidity of origami structure is adjustable by being discharged into or taking away the pneumatic mode of gas
Section.
With continued reference to Fig. 1, it is also enclosed with elastic film in the outer surface of top end plate 2, bottom end plate 3 and origami structure 1,
It is gas-tight seal to be formed around actuator.Elastic film may be that elastic soft silica gel material is constituted.Elastic film 4 it is rigid
Degree is less than the rigidity of origami structure 1, and therefore, the change in shape of elastic film 4 depends on the change in shape of origami structure 1.
In the present embodiment, the unidirectional telescopic stacking pile-up formula origami structure of the use of stiffness variable actuator, passes through
The expansion or shrinkage for controlling the actuating gas chamber inside origami structure drives stretching, extension, the compression of origami structure, can referring to Fig. 1 and 6
To realize the shape and stiffness tuning of actuator.In this embodiment, pneumatic diaphragm pump can provide the gas of setting volume so that
The pressure controllable in gas chamber 5 is activated, the shape and rigidity to realize actuator are controllable, and prevent from rupturing.
In other embodiments, stiffness variable actuator is also possible that the multiple above-mentioned actuatings being arranged in origami structure
Gas chamber, and multiple Pneumatic pipes corresponding with these actuating gas chambers, these actuating gas chambers are suitable for operationally being in
Different volumes swelling state or volume contraction state, so that origami structure is flexible.
The invention also provides a kind of soft robots including at least one above-mentioned stiffness variable actuator.Should have should
The soft robot of stiffness variable actuator can be adjusted by adaptive self-contained online stiffness variable and be realized to non-structural
Change the crawl of irregular target crawl object.It will be appreciated by persons skilled in the art that can also collect in the soft robot
At various sensors, actuator, controller etc., to realize the automation control to the soft robot, and and environmental interaction
Self adaptive control.
Several embodiments of the invention above described embodiment only expresses, the description thereof is more specific and detailed, but simultaneously
Cannot the limitation to the scope of the claims of the present invention therefore be interpreted as.It should be pointed out that for those of ordinary skill in the art
For, without departing from the inventive concept of the premise, various modifications and improvements can be made, these belong to the guarantor of the present invention
Protect range.Therefore, the protection domain of patent of the present invention should be determined by the appended claims.
Claims (8)
1. a kind of stiffness variable actuator, it is suitable for the end effector executing agency of soft robot, the stiffness variable causes
Dynamic device includes：
Origami structure comprising the paper folding layer of the paper folding layer of multiple stackings, the multiple stacking is folded by tablet, described
Tablet constitutes the side wall of the origami structure around the central shaft of the origami structure, and the paper folding layer of the multiple stacking is suitable for
It squeezes and stretches relative to each other, so that the origami structure is unidirectionally scalable；
Top end plate is fixedly attached to the top of the origami structure；
Bottom end plate is fixedly attached to the bottom end of the origami structure, the top end plate, the bottom end plate and the folding
The side wall of paper structure defines a paper folding cavity, and the bottom end plate offers through-hole；
Pneumatic pipe, one end pass through the through-hole to be in fluid communication with the paper folding cavity, and the other end is connected to gas source；
Elastic film, be wrapped in the top end plate, the bottom end plate and the origami structure outer surface formed it is airtight
Sealing；
Wherein, the gas source is suitable for being discharged into gas to the paper folding cavity by the Pneumatic pipe so that the paper folding chamber
Road is in barotropic state, to stretch the origami structure；The gas source is further adapted for taking away by the Pneumatic pipe described
Gas in paper folding cavity so that the paper folding cavity is in negative pressure state, to compression or is bent the origami structure.
2. stiffness variable actuator according to claim 1, which is characterized in that the stiffness variable actuator further includes：
Gas chamber is activated, is coaxially placed on the paper folding intracavitary with the origami structure, and both ends are respectively fixedly connected with to described
Top end plate and bottom end plate, the Pneumatic pipe pass through one end of the through-hole to be connected to the actuating gas chamber, the actuating
Gas chamber is suitable for the operationally Gradual change between volume expansion state and volume contraction state.
3. stiffness variable actuator according to claim 2, which is characterized in that the stiffness variable actuator further includes more
A actuating gas chamber, and multiple Pneumatic pipes corresponding with multiple actuating gas chambers, the multiple actuating gas
Room is suitable for operationally being in different volumes swelling state or volume contraction state, so that the origami structure is flexible.
4. stiffness variable actuator according to claim 1, which is characterized in that the tablet is by synthesizing paper material structure
At.
5. stiffness variable actuator according to claim 1, which is characterized in that the tablet includes the multilayer stacked
Paper.
6. stiffness variable actuator according to claim 1, which is characterized in that the elastic film is by elastic soft silica gel material
Material is constituted.
7. stiffness variable actuator according to claim 1, which is characterized in that the gas source is pneumatic diaphragm pump.
8. a kind of soft robot comprising at least one stiffness variable actuating according to one claim of any of the above
Device.
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710258747.0A CN108724166A (en) | 2017-04-19 | 2017-04-19 | Stiffness variable actuator |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710258747.0A CN108724166A (en) | 2017-04-19 | 2017-04-19 | Stiffness variable actuator |
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| CN201710258747.0A Pending CN108724166A (en) | 2017-04-19 | 2017-04-19 | Stiffness variable actuator |
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Cited By (20)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109178263A (en) * | 2018-11-05 | 2019-01-11 | 江西理工大学 | A kind of impulse jet type underwater robot based on tubulose origami structure |
| CN110394795A (en) * | 2019-08-12 | 2019-11-01 | 浙江大学 | The pneumatic software mechanical arm of high storage rate autofolding based on paper folding theory |
| CN110509266A (en) * | 2019-09-12 | 2019-11-29 | 上海大学 | A kind of four chamber variation rigidity pneumatic muscles gripper equipments |
| CN110509290A (en) * | 2019-08-30 | 2019-11-29 | 哈工大机器人湖州国际创新研究院 | Software actuator and its manufacturing method |
| CN111022414A (en) * | 2019-11-19 | 2020-04-17 | 湖南大学 | Negative pressure driven flexible torsion actuator |
| CN111075880A (en) * | 2019-12-30 | 2020-04-28 | 浙江大学 | Damper based on paper folding rebounding mechanism |
| WO2020222705A1 (en) * | 2019-05-02 | 2020-11-05 | National University Of Singapore | A variable stiffness device for soft robotics actuation |
| CN112476413A (en) * | 2020-11-20 | 2021-03-12 | 华南理工大学 | Vacuum-driven actuator based on scissor mechanism |
| CN112720544A (en) * | 2020-12-29 | 2021-04-30 | 江西理工大学 | Large-load netted soft body grabbing mechanism based on paper folding structure and fiber interference |
| CN112754660A (en) * | 2020-12-11 | 2021-05-07 | 北京信息科技大学 | Pneumatic device of general type software operation auxiliary robot |
| CN112790798A (en) * | 2021-01-12 | 2021-05-14 | 天津大学 | Variable-rigidity folding and unfolding protective sheath based on layer blocking principle and using method thereof |
| CN112828931A (en) * | 2021-01-06 | 2021-05-25 | 张家港市万荣金属制品有限公司 | Flexible bionic motion joint |
| CN112998860A (en) * | 2020-12-11 | 2021-06-22 | 北京信息科技大学 | Be used for minimal access surgery operation single section software manipulator |
| CN113606376A (en) * | 2021-08-05 | 2021-11-05 | 江西理工大学 | Soft pneumatic valve with paper folding structure and control method thereof |
| CN113925743A (en) * | 2021-10-22 | 2022-01-14 | 上海交通大学 | Elbow wearable exoskeleton based on composite Bellow array |
| CN113997316A (en) * | 2021-08-27 | 2022-02-01 | 北华大学 | Fluid-controlled variable-rigidity elastic shaft |
| US11345054B2 (en) | 2020-06-01 | 2022-05-31 | Dalian University Of Technology | Magnetic-induced stiffness changed soft robot drive module and production method thereof |
| CN114654445A (en) * | 2022-03-02 | 2022-06-24 | 上海工程技术大学 | Line-driven flexible robot |
| CN114770486A (en) * | 2022-04-24 | 2022-07-22 | 上海交通大学 | Multi-degree-of-freedom variable-rigidity modularized flexible driver and bionic robot |
| WO2023086029A3 (en) * | 2021-11-11 | 2023-08-10 | National University Of Singapore | Soft robotic modular and reconfigurable actuator |
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Cited By (26)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109178263A (en) * | 2018-11-05 | 2019-01-11 | 江西理工大学 | A kind of impulse jet type underwater robot based on tubulose origami structure |
| CN109178263B (en) * | 2018-11-05 | 2021-06-01 | 江西理工大学 | Pulse jet type underwater robot based on tubular paper folding structure |
| WO2020222705A1 (en) * | 2019-05-02 | 2020-11-05 | National University Of Singapore | A variable stiffness device for soft robotics actuation |
| CN110394795A (en) * | 2019-08-12 | 2019-11-01 | 浙江大学 | The pneumatic software mechanical arm of high storage rate autofolding based on paper folding theory |
| CN110509290A (en) * | 2019-08-30 | 2019-11-29 | 哈工大机器人湖州国际创新研究院 | Software actuator and its manufacturing method |
| CN110509266B (en) * | 2019-09-12 | 2021-05-14 | 上海大学 | Four-cavity variable-rigidity pneumatic muscle gripper device |
| CN110509266A (en) * | 2019-09-12 | 2019-11-29 | 上海大学 | A kind of four chamber variation rigidity pneumatic muscles gripper equipments |
| CN111022414A (en) * | 2019-11-19 | 2020-04-17 | 湖南大学 | Negative pressure driven flexible torsion actuator |
| CN111075880A (en) * | 2019-12-30 | 2020-04-28 | 浙江大学 | Damper based on paper folding rebounding mechanism |
| US11345054B2 (en) | 2020-06-01 | 2022-05-31 | Dalian University Of Technology | Magnetic-induced stiffness changed soft robot drive module and production method thereof |
| CN112476413A (en) * | 2020-11-20 | 2021-03-12 | 华南理工大学 | Vacuum-driven actuator based on scissor mechanism |
| CN112998860A (en) * | 2020-12-11 | 2021-06-22 | 北京信息科技大学 | Be used for minimal access surgery operation single section software manipulator |
| CN112754660A (en) * | 2020-12-11 | 2021-05-07 | 北京信息科技大学 | Pneumatic device of general type software operation auxiliary robot |
| CN112720544A (en) * | 2020-12-29 | 2021-04-30 | 江西理工大学 | Large-load netted soft body grabbing mechanism based on paper folding structure and fiber interference |
| CN112828931A (en) * | 2021-01-06 | 2021-05-25 | 张家港市万荣金属制品有限公司 | Flexible bionic motion joint |
| CN112790798A (en) * | 2021-01-12 | 2021-05-14 | 天津大学 | Variable-rigidity folding and unfolding protective sheath based on layer blocking principle and using method thereof |
| CN113606376A (en) * | 2021-08-05 | 2021-11-05 | 江西理工大学 | Soft pneumatic valve with paper folding structure and control method thereof |
| CN113606376B (en) * | 2021-08-05 | 2023-08-18 | 江西理工大学 | Soft pneumatic valve with paper folding structure and control method thereof |
| CN113997316A (en) * | 2021-08-27 | 2022-02-01 | 北华大学 | Fluid-controlled variable-rigidity elastic shaft |
| CN113925743B (en) * | 2021-10-22 | 2022-09-23 | 上海交通大学 | Elbow wearable exoskeleton based on composite Bellow array |
| CN113925743A (en) * | 2021-10-22 | 2022-01-14 | 上海交通大学 | Elbow wearable exoskeleton based on composite Bellow array |
| WO2023086029A3 (en) * | 2021-11-11 | 2023-08-10 | National University Of Singapore | Soft robotic modular and reconfigurable actuator |
| CN114654445A (en) * | 2022-03-02 | 2022-06-24 | 上海工程技术大学 | Line-driven flexible robot |
| CN114654445B (en) * | 2022-03-02 | 2023-06-02 | 上海工程技术大学 | Line-driven flexible robot |
| CN114770486A (en) * | 2022-04-24 | 2022-07-22 | 上海交通大学 | Multi-degree-of-freedom variable-rigidity modularized flexible driver and bionic robot |
| CN114770486B (en) * | 2022-04-24 | 2023-10-31 | 上海交通大学 | Multi-degree-of-freedom rigidity-variable modularized flexible driver and bionic robot |
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