A Preprogrammable Continuum Robot Inspired by Elephant Trunk for Dexterous Manipulation

Journal article


Zhang, J., Li, Y., Kan, Z., Yuan, Q., Rajabi, H., Wu, Z., Peng, H. and Wu, J. (2023). A Preprogrammable Continuum Robot Inspired by Elephant Trunk for Dexterous Manipulation. Soft Robotics. https://doi.org/10.1089/soro.2022.0048
AuthorsZhang, J., Li, Y., Kan, Z., Yuan, Q., Rajabi, H., Wu, Z., Peng, H. and Wu, J.
Abstract

Cable-driven continuum robots with hyper-redundant deformable backbones show great promise in applications, such as inspection in unstructured environments, where traditional rigid robots with discrete links and joints fail to operate. However, the motion of existing continuum robots is still constrained by their homogeneous backbones, and limited to environments with modest geometrical complexity. Here, inspired by highly deformable elephant trunks, we presented a modular tensegrity structure with pre-programmable stiffness for continuum robots. Then, we derived a mechanical model based on a positional formulation finite element method for predicting the configuration of the structure in different deformation scenarios. Theoretical predictions revealed that the curvature of each segment could be regulated by pre-programming their spring stiffness. Hence, our customizable design could offer an effective route for efficient robotic interactions. We further fabricated a continuum robot consisting of 12 modules, and showcased its deformation patterns under multiple scenarios. By regulating the distribution of spring stiffness, our robot could move through channels with varying curvatures, exhibiting its potential for applications where varying curvature, conformal and efficient interactions are needed. Leveraging the inherent intelligence, this robotic system could simplify the complexity of the required actuation and control systems.

KeywordsArtificial Intelligence; Biophysics; Control and Systems Engineering
Year2023
JournalSoft Robotics
PublisherMary Ann Liebert Inc.
ISSN2169-5180
Digital Object Identifier (DOI)https://doi.org/10.1089/soro.2022.0048
Web address (URL)https://www.liebertpub.com/doi/abs/10.1089/soro.2022.0048?journalCode=soro
Publication dates
Online11 Jan 2023
Publication process dates
Accepted08 Feb 2023
Deposited16 Feb 2023
Publisher's version
File Access Level
Safeguarded
Accepted author manuscript
License
File Access Level
Open
Additional information

"This is the accepted version of the following article: Zhang, J., Li,Y., Kan, Z., Yuan, Q., Rajabi, H., Wu, Z., Peng, H., Wu, J. (2023) A Preprogrammable Continuum Robot Inspired by Elephant Trunk for Dexterous Manipulation, Soft Robotics, DOI: 10.1089/soro.2022.0048, which has now been formally published in final form at Soft Robotics at https://doi.org/10.1089/soro.2022.0048. This original submission version of the article may be used for non-commercial purposes in accordance with the Mary Ann Liebert, Inc., publishers’ self-archiving terms and conditions."

Permalink -

https://openresearch.lsbu.ac.uk/item/93110

Download files


Accepted author manuscript
ZhangText.docx
License: CC BY 4.0
File access level: Open

  • 44
    total views
  • 113
    total downloads
  • 3
    views this month
  • 5
    downloads this month

Export as

Related outputs

A ballistic pollen dispersal strategy based on stylar oscillation of Hypochaeris radicata (Asteraceae)
Ito, S., Rajabi, H. and Gorb, S. N. A ballistic pollen dispersal strategy based on stylar oscillation of Hypochaeris radicata (Asteraceae). Journal of Experimental Biology. 226 (6). https://doi.org/10.1242/jeb.244258
Strong attachment as an adaptation of flightless weevils on windy oceanic islands
Wang, L-Y., Lin, C-Y., Gorb, S.N. and Rajabi Jorshari, H. (2023). Strong attachment as an adaptation of flightless weevils on windy oceanic islands. Journal of The Royal Society Interface. 20 (208), p. 20230447. https://doi.org/10.1098/rsif.2023.0447
Investigation of Ultrasonically Levitated Droplets for Sonochemistry with High-Speed Camera Observations
Aldahi, M., Khaheshi Hasankiadeh, A., Saif, N.B., Vasconez, J.F.Pr., Rajabi, H. and Harput, S. (2023). Investigation of Ultrasonically Levitated Droplets for Sonochemistry with High-Speed Camera Observations. 2023 IEEE International Ultrasonics Symposium (IUS). Montreal, QC, Canada 03 - 08 Sep 2023 IEEE. https://doi.org/10.1109/ius51837.2023.10307095
Locomotory Behavior of Water Striders with Amputated Legs
Meshkani, J., Rajabi Jorshari, H., Kovalev, A. and Gorb, S. (2023). Locomotory Behavior of Water Striders with Amputated Legs. Biomimetics. 8 (7), p. 524. https://doi.org/10.3390/biomimetics8070524
Basal complex: a smart wing component for automatic shape morphing
Eraghi, S.H., Toofani, A., Guilani, R.J.A., Ramezanpour, S., Bijma, N.N., Sedaghat, A., Yasamandaryaei, A.;, Gorb, S. and Rajabi Jorshari, H. (2023). Basal complex: a smart wing component for automatic shape morphing. Communications biology. 6, p. 853. https://doi.org/10.1038/s42003-023-05206-1
Patterns of load distribution among the legs in small water striders during standing and striding
Meshkani, J., Rajabi, H., Kovalev, A. and Gorb, S. N. (2023). Patterns of load distribution among the legs in small water striders during standing and striding. Journal of Zoology. 320 (2), pp. 84-95. https://doi.org/10.1111/jzo.13066
Double‐spirals offer the development of pre‐programmable modular metastructures
Jafarpour, M., Gorb, S.N. and Rajabi, H. (2023). Double‐spirals offer the development of pre‐programmable modular metastructures. Advanced Engineering Materials. 25 (13), p. 2300102. https://doi.org/10.1002/adem.202300102
In Situ Reconfigurable Continuum Robot with Varying Curvature Enabled by Programmable Tensegrity Building Blocks
Zhang, J., Shi, J., Huang, J., Wu, Q., Zhao, Y., Yang, J., Rajabi, H., Wu, Z., Peng, H. and Wu, J. (2023). In Situ Reconfigurable Continuum Robot with Varying Curvature Enabled by Programmable Tensegrity Building Blocks. Advanced Intelligent Systems. 5 (7), p. 2300048. https://doi.org/10.1002/aisy.202300048
Double-spiral: a bioinspired pre-programmable compliant joint with multiple degrees of freedom
Jafarpour, M., Gorb, S. and Rajabi Jorshari, H. (2023). Double-spiral: a bioinspired pre-programmable compliant joint with multiple degrees of freedom. Journal of The Royal Society Interface. 20 (198). https://doi.org/10.1098/rsif.2022.0757
The frequency of wing damage in a migrating butterfly
Korkmaz, R., Rajabi, H., Eshghi, S., Gorb, S.N. and Büscher, T. (2022). The frequency of wing damage in a migrating butterfly. Insect Science. https://doi.org/10.1111/1744-7917.13153
An insect-inspired asymmetric hinge in a double-layer membrane
Rajabi, H., Eraghi, S.H., Khaheshi, A., Toofani, A., Hunt, C. and Wootton, R.J. (2022). An insect-inspired asymmetric hinge in a double-layer membrane. Proceedings of the National Academy of Sciences. 119 (45), p. e2211861119. https://doi.org/10.1073/pnas.2211861119
Versatile Like a Seahorse Tail: A Bio-Inspired Programmable Continuum Robot For Conformal Grasping
Zhang, J., Hu, Y., Li, Y., Ma, K., Wei, Y., Yang, J., Wu, Z., Rajabi Jorshari, H., Peng, H. and Wu, J. (2022). Versatile Like a Seahorse Tail: A Bio-Inspired Programmable Continuum Robot For Conformal Grasping. Advanced Intelligent Systems. p. 2200263. https://doi.org/10.1002/aisy.202200263
Mechanical Intelligence (MI): A Bioinspired Concept for Transforming Engineering Design
Khaheshi Hasankiadeh, A. and Rajabi Jorshari, H. (2022). Mechanical Intelligence (MI): A Bioinspired Concept for Transforming Engineering Design. Advanced Science. https://doi.org/10.1002/advs.202203783
Conflicting requirements for transparency and mechanical stability in the compound eyes of desert locusts
Li, C., Rajabi, H. and Gorb, S. (2022). Conflicting requirements for transparency and mechanical stability in the compound eyes of desert locusts. Advanced Materials Interfaces. 2200766. https://doi.org/10.1002/admi.202200766
An image based application in Matlab for automated modelling and morphological analysis of insect wings
Eshghi, S., Nabati, Shafaghi, S., Nooraeefar, V., Darvizeh, A., Gorb, S. and Rajabi, H. (2022). An image based application in Matlab for automated modelling and morphological analysis of insect wings. Scientific Reports. 12, p. 13917. https://doi.org/10.1038/s41598-022-17859-9
Effect of sample treatment on the elastic modulus of locust cuticle obtained by nanoindentation
Li, C., Gorb, S. and Rajabi, H. (2022). Effect of sample treatment on the elastic modulus of locust cuticle obtained by nanoindentation. Beilstein Journal of Nanotechnology. 13, p. 404–410. https://doi.org/10.3762/bjnano.13.33
The damping properties of the foam‑filled shaft of primary feathers of the pigeon Columba livia
Rajabi, H., Deng, K., Kovalev, A., Schaber, C., Dai, Z. D. and Gorb, S. (2022). The damping properties of the foam‑filled shaft of primary feathers of the pigeon Columba livia. The Science of Nature Naturwissenschaften. 109 (1). https://doi.org/10.1007/s00114-021-01773-7
Fin Ray Crossbeam Angles for Efficient Foot Design for Energy‐Efficient Robot Locomotion
Manoonpong, P., Rajabi, Hamed, Larsen, Jørgen C., Raoufi, Seyed S., Asawalertsak, Naris, Homchanthanakul, J., Tramsen, Halvor T., Darvizeh, Abolfazl and Gorb, S. (2021). Fin Ray Crossbeam Angles for Efficient Foot Design for Energy‐Efficient Robot Locomotion. Advanced Intelligent Systems. p. 2100133. https://doi.org/10.1002/aisy.202100133
Wing Coupling in Bees and Wasps: From the Underlying Science to Bioinspired Engineering
Eraghi, S., Toofani, A., Khaheshi, A., Khorsandi, M., Darvizeh, A., Gorb, S. and Rajabi Jorshari, H. (2021). Wing Coupling in Bees and Wasps: From the Underlying Science to Bioinspired Engineering. Advanced Science. 8 (16), p. 2004383. https://doi.org/10.1002/advs.202004383
Excavation mechanics of the elongated female rostrum of the acorn weevil Curculio glandium (Coleoptera; Curculionidae)
Matsumura, Y., Jafarpour, M., Reut, M., Shams Moattar, M., Darvizeh, A., Gorb, S. and Rajabi Jorshari, H. (2021). Excavation mechanics of the elongated female rostrum of the acorn weevil Curculio glandium (Coleoptera; Curculionidae). Applied Physics A. 127 (348). https://doi.org/10.1007/s00339-021-04353-8
Spiky-joint: a bioinspired solution to combine mobility and support
Ali Khaheshi, Stanislav N. Gorb and Rajabi Jorshari, H. (2021). Spiky-joint: a bioinspired solution to combine mobility and support. Applied Physics A. 127 (181). https://doi.org/10.1007/s00339-021-04310-5
Triple Stiffness: A Bioinspired Strategy to Combine Load‐Bearing, Durability, and Impact‐Resistance
Ali Khaheshi, Stanislav Gorb and Rajabi Jorshari, H. (2021). Triple Stiffness: A Bioinspired Strategy to Combine Load‐Bearing, Durability, and Impact‐Resistance. Advanced Science. 8 (11), p. 2004338. https://doi.org/10.1002/advs.202004338
Insects: Functional Morphology, Biomechanics and Biomimetics
Rajabi, H., Wu, J. and Gorb, S. (2021). Insects: Functional Morphology, Biomechanics and Biomimetics. Insects. 12 (12), p. 1108. https://doi.org/10.3390/insects12121108
Biomechanical strategies to reach a compromise between stiffness and flexibility in hind femora of desert locusts
Li. C., Gorb, S. and Rajabi, H. (2021). Biomechanical strategies to reach a compromise between stiffness and flexibility in hind femora of desert locusts. Acta Biomaterialia. 134, pp. 490-498. https://doi.org/10.1016/j.actbio.2021.07.030
Elytra coupling of the ladybird Coccinella septempunctata functions as an energy absorber in intentional falls
Rajabi, H., Zhang, J., Yuan, Q., Jiang, Y., Pang, H., Wu, Z. and Wu, J. (2021). Elytra coupling of the ladybird Coccinella septempunctata functions as an energy absorber in intentional falls. Bioinspiration & biomimetics. 16, p. 056018. https://doi.org/10.1088/1748-3190/ac1cef
The damping and structural properties of dragonfly and damselfly wings during dynamic movement
Lietz, C., Schaber, C.F., Gorb, S.N. and Hamed, R. (2021). The damping and structural properties of dragonfly and damselfly wings during dynamic movement. Communications biology. 4, p. 737. https://doi.org/10.1038/s42003-021-02263-2
Double-rowed teeth: design specialization of the H. venator ants for enhanced tribological stability
Zhang, W., Wu, Z., Wang, Z., Wang, Z., Li, C., Rajabi, H. and Wu, J. (2021). Double-rowed teeth: design specialization of the H. venator ants for enhanced tribological stability. Bioinspiration & biomimetics. 16 (5), p. 055003. https://doi.org/10.1088/1748-3190/ac124a
Sperm transfer through hyper-elongated beetle penises – morphology and theoretical approaches
Matsumura, Y., Michels, J., Rajabi Jorshari, H., Shimozawa, T. and Gorb, S.N. (2019). Sperm transfer through hyper-elongated beetle penises – morphology and theoretical approaches. Scientific Reports. 9, p. 10238. https://doi.org/10.1038/s41598-019-46211-x
The probability of the wing damage in the dragonfly Sympetrum vulgatum (Anisoptera: Libellulidae): a field study
Rajabi Jorshari, H., Schroeter, V., Eshghi, S. and Gorb, S. (2017). The probability of the wing damage in the dragonfly Sympetrum vulgatum (Anisoptera: Libellulidae): a field study. Biology Open. 6 (9), pp. 1290-1293. https://doi.org/10.1242/bio.027078
Resilin microjoints: A smart design strategy to avoid failure in dragonfly wings
Rajabi Jorshari, H., Shafiei, A., Darvizeh, A. and Gorb, S.N. (2016). Resilin microjoints: A smart design strategy to avoid failure in dragonfly wings. Scientific Reports. https://doi.org/10.1038/srep39039
Effect of microstructure on the mechanical and damping behaviour of dragonfly wing veins
Rajabi Jorshari, H., Shafiei, A., Darvizeh, A., Dirks, J.-H., Appel, E. and Gorb, S.N. (2016). Effect of microstructure on the mechanical and damping behaviour of dragonfly wing veins. Royal Society Open Science. 3 (2). https://doi.org/10.1098/rsos.160006
Basal complex and basal venation of Odonata wings: Structural diversity and potential role in the wing deformation
Rajabi Jorshari, H., Ghoroubi, N., Malaki, M., Darvizeh, A. and Gorb, S.N. (2016). Basal complex and basal venation of Odonata wings: Structural diversity and potential role in the wing deformation. PLoS ONE. https://doi.org/10.1371/journal.pone.0160610