Single Channel Soft Robotic Actuator Leveraging Switchable Strain-Limiting Structures for Deep-Sea Suction Sampling

Jan Peters; Cora Maria Sourkounis; Mats Wiese; Tom Kwasnitschka; Annika Raatz

doi:10.1109/IROS55552.2023.10341262

Single Channel Soft Robotic Actuator Leveraging Switchable Strain-Limiting Structures for Deep-Sea Suction Sampling

Jan Peters
, Cora Maria Sourkounis
, Mats Wiese
, Tom Kwasnitschka
, Annika Raatz

Institute for Assembly Technology and Robotics

GEOMAR Helmholtz Centre for Ocean Research Kiel

Research output: Chapter in book/report/conference proceeding › Conference contribution › Research › peer review

Abstract

Soft Robotics has established itself as an integral field in the broader discipline of general robotics through multiple advantages like inherent safety, adaptable morphology, and energy- and weight efficiency. Especially in environments hostile to humans and classical robots like the deep sea, soft robotic structures made out of silicone and actuated by seawater have numerous advantages. An application with a huge scientific and commercial potential for soft robotic solutions is suction sampling for marine geology in depths of up to 6000 m. In this paper, we propose a single channel soft robotic actuator that is able to bend into six directions while absorbing process forces. By embedding a low melting point alloy (LMPA) acting as switchable strain-limiting structures, the actuator is capable of hexa-planar bending of up to 40° and elongation of 30 % with only one valve used for actuation. In addition, the LMPA chambers enable a stiffening factor of 4.1 and locking the actuator in its bending state for energy efficient usage in robotic deep-sea suction sampling.

Original language	English
Title of host publication	2023 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)
Publisher	Institute of Electrical and Electronics Engineers Inc.
Pages	6484-6490
Number of pages	7
ISBN (Electronic)	9781665491907
ISBN (Print)	978-1-6654-9191-4
DOIs	https://doi.org/10.1109/IROS55552.2023.10341262
Publication status	Published - 2023
Event	2023 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2023 - Detroit, United States Duration: 1 Oct 2023 → 5 Oct 2023

Publication series

Name	IEEE International Conference on Intelligent Robots and Systems
ISSN (Print)	2153-0858
ISSN (Electronic)	2153-0866

Conference

Conference	2023 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2023
Country/Territory	United States
City	Detroit
Period	1 Oct 2023 → 5 Oct 2023

UN Sustainable Development Goals (SDGs)

This output contributes to the following UN Sustainable Development Goals (SDGs)

SDG 14 Life Below Water

ASJC Scopus subject areas

Control and Systems Engineering
Software
Computer Vision and Pattern Recognition
Computer Science Applications

Access to Document

10.1109/IROS55552.2023.10341262

Cite this

Peters, J., Sourkounis, C. M., Wiese, M., Kwasnitschka, T., & Raatz, A. (2023). Single Channel Soft Robotic Actuator Leveraging Switchable Strain-Limiting Structures for Deep-Sea Suction Sampling. In 2023 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS) (pp. 6484-6490). (IEEE International Conference on Intelligent Robots and Systems). Institute of Electrical and Electronics Engineers Inc.. https://doi.org/10.1109/IROS55552.2023.10341262

Peters, Jan ; Sourkounis, Cora Maria ; Wiese, Mats et al. / Single Channel Soft Robotic Actuator Leveraging Switchable Strain-Limiting Structures for Deep-Sea Suction Sampling. 2023 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS). Institute of Electrical and Electronics Engineers Inc., 2023. pp. 6484-6490 (IEEE International Conference on Intelligent Robots and Systems).

@inproceedings{608ad7c5cc68411183f881cef71005bf,

title = "Single Channel Soft Robotic Actuator Leveraging Switchable Strain-Limiting Structures for Deep-Sea Suction Sampling",

abstract = "Soft Robotics has established itself as an integral field in the broader discipline of general robotics through multiple advantages like inherent safety, adaptable morphology, and energy- and weight efficiency. Especially in environments hostile to humans and classical robots like the deep sea, soft robotic structures made out of silicone and actuated by seawater have numerous advantages. An application with a huge scientific and commercial potential for soft robotic solutions is suction sampling for marine geology in depths of up to 6000 m. In this paper, we propose a single channel soft robotic actuator that is able to bend into six directions while absorbing process forces. By embedding a low melting point alloy (LMPA) acting as switchable strain-limiting structures, the actuator is capable of hexa-planar bending of up to 40° and elongation of 30 \% with only one valve used for actuation. In addition, the LMPA chambers enable a stiffening factor of 4.1 and locking the actuator in its bending state for energy efficient usage in robotic deep-sea suction sampling.",

author = "Jan Peters and Sourkounis, \{Cora Maria\} and Mats Wiese and Tom Kwasnitschka and Annika Raatz",

note = "Funding Information: *Funded by the Deutsche Forschungsgemeinschaft (DFG, German Research Foundation) under grant no. 498342743. 1Jan Peters, Cora Maria Sourkounis, Mats Wiese and Annika Raatz are with the Institute of Assembly Technology, University of Hannover, Hannover, Germany [email protected] 2Tom Kwasnitschka is with the GEOMAR Helmholtz Centre for Ocean Research Kiel, Kiel, Germany ; 2023 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2023 ; Conference date: 01-10-2023 Through 05-10-2023",

year = "2023",

doi = "10.1109/IROS55552.2023.10341262",

language = "English",

isbn = "978-1-6654-9191-4",

series = "IEEE International Conference on Intelligent Robots and Systems",

publisher = "Institute of Electrical and Electronics Engineers Inc.",

pages = "6484--6490",

booktitle = "2023 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)",

address = "United States",

}

Peters, J, Sourkounis, CM, Wiese, M, Kwasnitschka, T & Raatz, A 2023, Single Channel Soft Robotic Actuator Leveraging Switchable Strain-Limiting Structures for Deep-Sea Suction Sampling. in 2023 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS). IEEE International Conference on Intelligent Robots and Systems, Institute of Electrical and Electronics Engineers Inc., pp. 6484-6490, 2023 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2023, Detroit, United States, 1 Oct 2023. https://doi.org/10.1109/IROS55552.2023.10341262

Single Channel Soft Robotic Actuator Leveraging Switchable Strain-Limiting Structures for Deep-Sea Suction Sampling. / Peters, Jan; Sourkounis, Cora Maria; Wiese, Mats et al.
2023 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS). Institute of Electrical and Electronics Engineers Inc., 2023. p. 6484-6490 (IEEE International Conference on Intelligent Robots and Systems).

Research output: Chapter in book/report/conference proceeding › Conference contribution › Research › peer review

TY - GEN

T1 - Single Channel Soft Robotic Actuator Leveraging Switchable Strain-Limiting Structures for Deep-Sea Suction Sampling

AU - Peters, Jan

AU - Sourkounis, Cora Maria

AU - Wiese, Mats

AU - Kwasnitschka, Tom

AU - Raatz, Annika

N1 - Funding Information: *Funded by the Deutsche Forschungsgemeinschaft (DFG, German Research Foundation) under grant no. 498342743. 1Jan Peters, Cora Maria Sourkounis, Mats Wiese and Annika Raatz are with the Institute of Assembly Technology, University of Hannover, Hannover, Germany [email protected] 2Tom Kwasnitschka is with the GEOMAR Helmholtz Centre for Ocean Research Kiel, Kiel, Germany

PY - 2023

Y1 - 2023

N2 - Soft Robotics has established itself as an integral field in the broader discipline of general robotics through multiple advantages like inherent safety, adaptable morphology, and energy- and weight efficiency. Especially in environments hostile to humans and classical robots like the deep sea, soft robotic structures made out of silicone and actuated by seawater have numerous advantages. An application with a huge scientific and commercial potential for soft robotic solutions is suction sampling for marine geology in depths of up to 6000 m. In this paper, we propose a single channel soft robotic actuator that is able to bend into six directions while absorbing process forces. By embedding a low melting point alloy (LMPA) acting as switchable strain-limiting structures, the actuator is capable of hexa-planar bending of up to 40° and elongation of 30 % with only one valve used for actuation. In addition, the LMPA chambers enable a stiffening factor of 4.1 and locking the actuator in its bending state for energy efficient usage in robotic deep-sea suction sampling.

AB - Soft Robotics has established itself as an integral field in the broader discipline of general robotics through multiple advantages like inherent safety, adaptable morphology, and energy- and weight efficiency. Especially in environments hostile to humans and classical robots like the deep sea, soft robotic structures made out of silicone and actuated by seawater have numerous advantages. An application with a huge scientific and commercial potential for soft robotic solutions is suction sampling for marine geology in depths of up to 6000 m. In this paper, we propose a single channel soft robotic actuator that is able to bend into six directions while absorbing process forces. By embedding a low melting point alloy (LMPA) acting as switchable strain-limiting structures, the actuator is capable of hexa-planar bending of up to 40° and elongation of 30 % with only one valve used for actuation. In addition, the LMPA chambers enable a stiffening factor of 4.1 and locking the actuator in its bending state for energy efficient usage in robotic deep-sea suction sampling.

UR - https://www.scopus.com/pages/publications/85182522513

U2 - 10.1109/IROS55552.2023.10341262

DO - 10.1109/IROS55552.2023.10341262

M3 - Conference contribution

AN - SCOPUS:85182522513

SN - 978-1-6654-9191-4

T3 - IEEE International Conference on Intelligent Robots and Systems

SP - 6484

EP - 6490

BT - 2023 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)

PB - Institute of Electrical and Electronics Engineers Inc.

T2 - 2023 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2023

Y2 - 1 October 2023 through 5 October 2023

ER -

Peters J, Sourkounis CM, Wiese M, Kwasnitschka T, Raatz A. Single Channel Soft Robotic Actuator Leveraging Switchable Strain-Limiting Structures for Deep-Sea Suction Sampling. In 2023 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS). Institute of Electrical and Electronics Engineers Inc. 2023. p. 6484-6490. (IEEE International Conference on Intelligent Robots and Systems). doi: 10.1109/IROS55552.2023.10341262

Single Channel Soft Robotic Actuator Leveraging Switchable Strain-Limiting Structures for Deep-Sea Suction Sampling

Abstract

Publication series

Conference

UN Sustainable Development Goals (SDGs)

ASJC Scopus subject areas

Access to Document

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