Intro -- Preface -- Contents -- Part I Outline -- 1 Introduction -- 2 Abstracts -- Part II Sensors and Actuators -- 3 New Concepts for Distributed Actuators and Their Control -- 3.1 Introduction -- 3.2 Shape Memory Alloys as Flexible Actuators -- 3.2.1 Basics -- 3.2.2 Control Design -- 3.2.3 Structural Integration -- 3.3 Control and Feedback Control of Distributed Actuators -- 3.4 Conclusions and Outlook -- 3.5 References -- 4 Artificial Muscles, Made of Dielectric Elastomer Actuators A Promising Solution for Inherently Compliant Future Robots -- 4.1 Drawbacks of Prevailing Robotic Actuators -- 4.2 Benefits of DEAs in Soft Robotics -- 4.2.1 Capability of Energy Recuperation -- 4.2.2 Intrinsic Compliance and Adaptability -- 4.2.3 Outstanding Power-to-Weight Ratio -- 4.2.4 Capability of Self-sensing -- 4.2.5 Noiseless Actuation -- 4.3 Current Research Efforts -- 4.3.1 Manufacturing Artificial Muscles Based on DEA -- 4.3.2 Lightweight Power Electronics -- 4.4 Summary and Future Challenges -- 4.5 References -- 5 Musculoskeletal Robots and Wearable Devices on the Basis of Cable-driven Actuators -- 5.1 Introduction -- 5.2 Short State of the Art: From Musculoskeletal Robots to Wearable Devices -- 5.3 The Myorobotics Toolkit -- 5.3.1 Overview -- 5.3.2 Design Primitives Library (DPL) -- 5.4 Wearable Cable-Driven Robots -- 5.4.1 Requirements and Structure of a Body Worn Lifting Aid -- 5.4.2 Body Worn Lifting Aid -- 5.5 References -- 6 Capacitive Tactile Proximity Sensing: From Signal Processing to Applications in Manipulation and Safe Human-Robot Interaction -- 6.1 Introduction -- 6.2 Signal Processing and Feature Extraction -- 6.2.1 Tracking -- 6.2.2 Task and Environment Contexts for Feature Extraction -- 6.3 Applications -- 6.3.1 Proximity Servoing -- 6.3.2 Preshaping -- 6.3.3 Combined Haptic and Proximity-Based Exploration.


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    Titel :

    Soft Robotics : Transferring Theory to Application


    Beteiligte:
    Verl, Alexander (Autor:in) / Albu-Schäffer, Alin (Mitwirkende:r) / Brock, Oliver (Mitwirkende:r) / Raatz, Annika (Mitwirkende:r)

    Ausgabe :

    1st ed.


    Erscheinungsdatum :

    2015


    Format / Umfang :

    1 online resource (293 pages)


    Anmerkungen:

    Description based on publisher supplied metadata and other sources.



    Medientyp :

    Buch


    Format :

    Elektronische Ressource


    Sprache :

    Englisch



    Klassifikation :

    DDC:    629.892



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