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アマガエルの濡れた付着メカニズムの解明と、そのソフトロボットハンド開発への応用

Research Project

Project/Area Number 20J14910
Research Category

Grant-in-Aid for JSPS Fellows

Allocation TypeSingle-year Grants
Section国内
Review Section Basic Section 20020:Robotics and intelligent system-related
Research InstitutionJapan Advanced Institute of Science and Technology

Principal Investigator

NGUYEN VANPHO  北陸先端科学技術大学院大学, 先端科学技術研究科, 特別研究員(PD)

Project Period (FY) 2020-04-24 – 2022-03-31
Project Status Discontinued (Fiscal Year 2021)
Budget Amount *help
¥1,700,000 (Direct Cost: ¥1,700,000)
Fiscal Year 2021: ¥1,040,000 (Direct Cost: ¥800,000、Indirect Cost: ¥240,000)
Fiscal Year 2020: ¥900,000 (Direct Cost: ¥900,000)
KeywordsWet adhesion / Micropattern morpholgy / Soft manipulation / Grasp soft object / Food handling / Soft robot hand / Soft robotics / Bio-inspiration / Micropattern / Soft-fragile object
Outline of Research at the Start

The model of contact mechanics will be investigated thoroughly in the first year. The outcome shows the integral role of the micropattern and wet adhesion on enhance the contact force that contributes optimal plan to construct grasp model in the next year.
The final action of our research will be implemented in second year. Basing on the evaluation of the contact mechanics, the grasp model is constructed and analyzed. The obtained results will be applied into completing the design of the actual application which is originated from our preliminary stage.

Outline of Annual Research Achievements

Role of the micropatterned pad (m-pad) on increasing the wet adhesion in grasping soft-fragile objects was continuously exploited through a theoretical model validated by applications of manipulating food by a robotic hand.
We built a theoretical model to estimate decreasing squeeze force and increasing wet adhesion force concerned for manipulating a soft, wet object by two soft fingers in two cases: normal fingertip pad (n-pad) and the m-pad. Object was in two cases of environment: in-air and in-liquid; whereas the pad was dry. Grasping the object was conducted three steps by the pad: approach, attach to the object and detach from the object. The m-pad has 14400 square cells is with the size of 85×85μm, separated by the channels with 44μm in depth. Our estimation of the grasped force for the pads were conducted, then verified by actual application in griping konjac, tofu, jelly, coffee jelly and quail egg. Both estimated and experimental results reveal that the m-pad can achieve a higher decrement of the squeeze force and deformation on the grasped objects than that of the n-pad. The ability of the wet adhesion in such model was further investigated for different morphologies of the m-pad. In this scenario, we varied the width of the pattern channel in three levels: 7.5 (type-1), 15 (type-2) and 22.5μm (type-3), and then applied to grasping the food objects. Varying w in the m-pad affects grasping ability of robotic fingers. Thus, we can optimize w according to grasped object in different conditions.

Research Progress Status

令和3年度が最終年度であるため、記入しない。

Strategy for Future Research Activity

令和3年度が最終年度であるため、記入しない。

Report

(3 results)
  • 2021 Annual Research Report
  • 2020 Annual Research Report
  • Products Report
  • Research Products

    (11 results)

All 2024 2023 2022 2021 2020

All Journal Article (6 results) (of which Int'l Joint Research: 5 results,  Peer Reviewed: 6 results,  Open Access: 3 results) Presentation (4 results) (of which Int'l Joint Research: 4 results) Funded Workshop (1 results)

  • [Journal Article] Picking food by robot hand with tree-frog like pad in various wet conditions2024

    • Author(s)
      Van Pho Nguyen
    • Journal Title

      Engineering Research Express

      Volume: 6 Issue: 1 Pages: 1-12

    • DOI

      10.1088/2631-8695/ad17e4

    • Related Report
      Products Report
    • Peer Reviewed / Open Access
  • [Journal Article] Universally Grasping Objects with Granular-Tendon Finger : Principle and Design2023

    • Author(s)
      Van Pho Nguyen, Sunil Bohra Dhyan, Boon Siew Han, and Wai Tuck Chow
    • Journal Title

      Micromachines

      Volume: 14 Issue: 7 Pages: 1-14

    • DOI

      10.3390/mi14071471

    • Related Report
      Products Report
    • Peer Reviewed / Open Access / Int'l Joint Research
  • [Journal Article] Mitigate Inertia for Wrist and Forearm Towards Safe Interaction in 5-DOF Cable-Driven Robot Arm2023

    • Author(s)
      Van Pho Nguyen, Sunil Bohra Dhyan, Chi Cuong Hoang, Boon Siew Han, Jing Yuan Tan, Wai Tuck Chow
    • Journal Title

      2023 IEEE/ASME International Conference on Advanced Intelligent Mechatronics (AIM)

      Pages: 215-220

    • DOI

      10.1109/aim46323.2023.10196261

    • Related Report
      Products Report
    • Peer Reviewed / Int'l Joint Research
  • [Journal Article] Wiring-Claw Gripper for Soft-Stable Picking up Multiple Objects2023

    • Author(s)
      Van Pho Nguyen, Wai Tuck Chow
    • Journal Title

      IEEE Robotics and Automation Letters

      Volume: 8 Issue: 7 Pages: 3972-3979

    • DOI

      10.1109/lra.2023.3273512

    • Related Report
      Products Report
    • Peer Reviewed / Int'l Joint Research
  • [Journal Article] Hybrid robot hand for stably manipulating one group objects2022

    • Author(s)
      Pho Van NGUYEN, Phi N. NGUYEN, Tan NGUYEN, Thanh Lanh LE
    • Journal Title

      Archive of Mechanical Engineering

      Volume: 69 Pages: 375-391

    • DOI

      10.24425/ame.2022.140421

    • Related Report
      Products Report
    • Peer Reviewed / Open Access / Int'l Joint Research
  • [Journal Article] Wet Adhesion of Soft Curved Interfaces With Micro Pattern2021

    • Author(s)
      Nguyen Van Pho、Ho Van Anh
    • Journal Title

      IEEE Robotics and Automation Letters

      Volume: 6 Issue: 3 Pages: 4273-4280

    • DOI

      10.1109/lra.2021.3067277

    • Related Report
      2020 Annual Research Report
    • Peer Reviewed / Int'l Joint Research
  • [Presentation] Towards Safely Grasping Group Objects by Hybrid Robot Hand2021

    • Author(s)
      Pho Van Nguyen
    • Organizer
      2021 4th International Conference on Advanced Mechanical and Electrical Engineering
    • Related Report
      2021 Annual Research Report
    • Int'l Joint Research
  • [Presentation] Toward An Ontology Model Supporting Vision-Based Tactile Internet Interoperability2021

    • Author(s)
      Pho Van Nguyen, Van Cu Pham, Yasuo Tan, Van Anh Ho
    • Organizer
      16th IEEE International Conference on Semantic Computing
    • Related Report
      2021 Annual Research Report
    • Int'l Joint Research
  • [Presentation] Wet Adhesion of Soft Curved Interfaces With Micro Pattern2021

    • Author(s)
      Pho Van Nguyen and Van Anh Ho
    • Organizer
      2021 IEEE International Conference on Soft Robotics
    • Related Report
      2020 Annual Research Report
    • Int'l Joint Research
  • [Presentation] Wet adhesion of micro-patterned interfaces for stable grasping of deformable objects2020

    • Author(s)
      Pho Van Nguyen, Quan Khanh Luu, Yuzuru Takamura and Van Anh Ho
    • Organizer
      2020 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)
    • Related Report
      2020 Annual Research Report
    • Int'l Joint Research
  • [Funded Workshop] “Interdisciplinary Collaborative Case-studies” and “Futuristic Demo Presentations” in IEEE ICRA2020 Workshop “Beyond Soft Robotics”2020

    • Related Report
      2020 Annual Research Report

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Published: 2020-07-07   Modified: 2025-03-27  

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