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This book describes Soft robotics is considered as one of the most promising frontiers for robotic research and versatile applications. As an interdisciplinary field, soft robotics brings together material science, manufacture, mechatronics and control. This book focuses on actuation, perception, control and applications of soft robots, showing their new functions and behaviors based on unique small-strain mechanisms, to offer readers a wide guidance for interdisciplinary exploration on soft robotics. The book represents the small-strain foldable mechanisms in the first chapter to explain key theories. Methodology covering actuation, perception and control of soft robots based on small-strain mechanisms have been elaborated in Chapter 2-5 to provide new tools for design and modelling of actuators, sensors and controllers. Several excellent cases are following in Chapter 6-10 to review the recent developments on industrial, surgical and healthcare applications. This book aims to give references for students, researchers and engineers from the fields of mechanical engineering, robotics and biomedical engineering.
Inhaltsverzeichnis
Small-Strain Foldable Mechanisms.- Design and Modeling of Soft Small-Strain Actuators.- Bionic Robotic Design Based on Rigid-Soft Foldable Mechanisms.- Mechanoreception and Proprioception of Soft Robots.- Control of Pneumatic Soft Robots.- Soft Origami Grippers.- Wearable Sensory Gloves for Hand Rehabilitation.- Fluid-Driven Wearable Robots for Knee Rehabilitation.- Soft Robotic Gloves for Hand Rehabilitation.- Flexible Mechanisms towards Surgical Application.
Über den Autor / die Autorin
Zheng Wang
Dr Zheng WANG graduated from Tsinghua University, China (BSc in Control Theory and Engineering), Imperial College, UK (MSc in Control Systems), Technical University of Munich, Germany (D-Ing. In Robotics, Institute of Automatic Control), and served as Postdoc Fellow in Nanyang Technological University and Harvard University, respectively. From 2014-2019 he served as Assistant Professor in the Department of Mechanical Engineering at the University of Hong Kong, before joining SUSTECH in 2019 as Professor and Principal Investigator. Dr Wang’s research interests include: robotic design and control, soft/compliant robots, biomimetic robots and special-purpose application, medical/surgical robots, etc. He had successfully led and collaborated in over 20 research grants across EU, Singapore, US, HK, and China, receiving sponsorship from HK RGC, ITC, Shenzhen Technological and Innovation Committee, and major leading companies from Microsoft, Delta, Lenovo, MBrain, Hytera, Tencent, etc. Dr Wang is currently a Senior Member of IEEE and IEEE RAS, founding member of IEEE Haptics Committee, and Member of ASME. He had served as associate editor and reviewing panel for multiple academic journals and conferences. To-date Dr Wang had authored two book/book chapters, over 50 academically refereed articles, and over 20 patents.
Zusammenfassung
This book describes Soft robotics is considered as one of the most promising frontiers for robotic research and versatile applications. As an interdisciplinary field, soft robotics brings together material science, manufacture, mechatronics and control. This book focuses on actuation, perception, control and applications of soft robots, showing their new functions and behaviors based on unique small-strain mechanisms, to offer readers a wide guidance for interdisciplinary exploration on soft robotics. The book represents the small-strain foldable mechanisms in the first chapter to explain key theories. Methodology covering actuation, perception and control of soft robots based on small-strain mechanisms have been elaborated in Chapter 2-5 to provide new tools for design and modelling of actuators, sensors and controllers. Several excellent cases are following in Chapter 6-10 to review the recent developments on industrial, surgical and healthcare applications. This book aims to give references for students, researchers and engineers from the fields of mechanical engineering, robotics and biomedical engineering.
