| 研究実績の概要 |
We firstly conducted an analytical model to evaluate the reduction of squeeze force and increment of wet adhesion force concerned for manipulating a soft, wet block object by two soft-fingers in two cases: flat and micropatterned fingertip pad. The micro-machined pattern attached to the soft robot finger includes 3600 square cells, each cell is with the size of 85μm×85μm, separated by a network of channels with 15μm in width and 44μm in depth. The ability of the wet adhesion in such model was developed for a contact interface of the pad-object changing from the flat to the curved. We focused on the normal wet adhesion force on the curved contact interface in different contact scenarios. The micropattern soft pad may deform to fit a concave surface. We also compared this micropattern soft pad with a similar soft pad without a micropattern in term of adhesion ability at the interface between the pad and the substrate. These achievements were published in the top journal and conferences in Soft robotics as follows: Pho Van Nguyen et al., "Wet Adhesion of Soft Curved Interfaces With Micro Pattern", IEEE Robotics and Automation Letters, vol. 6, no. 3, 2021. [2] Pho Van Nguyen et al., "Wet Adhesion of Soft Curved Interfaces With Micro Pattern", 4th IEEE International Conference on Soft Robotics, 2021.[3] Pho Van Nguyen et al., "Wet Adhesion of Micro-patterned Interfaces for Stable Grasping of Deformable Objects", 2020 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), 2020, pp. 9213-9219.
|
| 現在までの達成度 (区分) |
現在までの達成度 (区分)
2: おおむね順調に進展している
理由
In FY 2020, I completed my research as the given proposal, and had several publications in top journal and conferences in soft robotics. Besides, I finished my PhD course in Sep-2020 with PhD degree awarded in Japan Advanced Institute of Science and Technology (JAIST). I am expecting to reach more research achievements in this fiscal year.
|
| 今後の研究の推進方策 |
The final action of our research will be implemented in the final 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. In this phase, we continuously fabricate the micro-patterned mold for making soft robotics fingers. We will buy: gloves, mash, silicon substrate, chemical liquids, tools, silicon rubbers, 3D printing materials, steel, plastic, servo motors, electrical measurement equip circuit boards and valves. Also, I intend to present results in the top conferences: The 39th Annual Conference of the Robotics Society of Japan and 2021 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS).
|
