Papers by Matteo Cianchetti
This paper describes the design and
development of a modular soft manipulator for
minimally invas... more This paper describes the design and
development of a modular soft manipulator for
minimally invasive surgery, which equals the high
dexterity of classic hyper redundant continuum, but
rigid, robots resulting in safer potential interaction
with internal organs. The manipulator relies on the use
of a soft flexible fluidic actuator in each of its modules,
which can be wireless controlled by means of an
embedded fluidic control unit. This actuation unit is
equipped with three miniaturized latching valves, a
wireless microcontroller board, and a specifically
designed fluidic distributor integrated into the elastomeric
material that the module is made of. FEM
simulations and experimental tests verified the reliability
of the distributor in acting as a piping system
inside each module. The mobility of the fully
integrated soft module was evaluated in terms of
static performances and covered workspace. The
module’s dynamic model during one-chamber motion
was estimated from the parameter estimation analysis.
The characterization of the single module behaviour is
intended as first step to ease the future high level
control of the multi-modular architecture.
2012 IEEE International Conference on Robotics and Automation, 2012
Abstract Continuum structures with a very high or infinite number of degrees of freedom (DOF) are... more Abstract Continuum structures with a very high or infinite number of degrees of freedom (DOF) are very interesting structures in nature. Mimicking this kind of structures artificially is challenging due to the high number of required DOF. This paper presents a kinematic and dynamic model for an underwater robotic manipulator inspired by Octopus vulgaris. Then, a prototype arm inspired by live octopus is presented and the model validated experimentally. Initial comparisons of simulated and experimental results show good agreement.
This paper presents the concept design, the fabrication and the experimental characterization of ... more This paper presents the concept design, the fabrication and the experimental characterization of a unit of a modular manipulator for minimal access surgery. Traditional surgical manipulators are usually based on metallic steerable needles, tendon driven mechanisms or articulated motorized links. In this work the main idea is to combine flexible fluidic actuators enabling omnidirectional bending and elongation capability and the granular jamming phenomenon to implement a selective stiffness changing. The proposed manipulator is based on a series of identical modules, each one consisting of a silicone tube with pneumatic chambers for allowing 3D motion and one central channel for the implementation of the granular jamming phenomenon for stiffening. The silicone is covered by a novel bellows-shaped braided structure maximizing the bending still limiting lateral expansion. In this paper one single module is tested in terms of bending range, elongation capability, generated forces and stiffness changing.
Lecture Notes in Computer Science, 2013
Octopus show great adhesion capabilities thanks to their suckers covering their ventral side of t... more Octopus show great adhesion capabilities thanks to their suckers covering their ventral side of their arms. Starting from biological investigation, we identified preliminary specifications for the design of innovative artificial suction cups, which could be used in the field of soft robotics. The main features of the biological sucker are maintained as leading criteria for the choice of the actuation technology and mechanism. In this preliminary work, we focused on the imitation of the functionality of the specific muscle bundles which generate suction to obtain adhesion. Dielectric Elastomers Actuators (DEA) were identified as a suitable solution. A study on materials and manufacturing techniques was made. Different possible solutions in the use of DEA are also described.
3rd Joint Workshop on New Technologies for Computer/Robot Assisted Surgery 11-12-13 September 2013, Verona, Italy, Sep 13, 2013
This paper presents the design of a single module composing a modular soft variable stiffness man... more This paper presents the design of a single module composing a modular soft variable stiffness manipulator for minimal access surgery. The module exploits flexible fluidic actuation for obtaining multi directional bending and elongation capabilities. A novel flexible crimped braided sheath is introduced in order to increase the performances of the flexible actuator. Granular jamming based stiffening mechanism is used to tune the stiffness of the module. The fabrication of the module is described and the performances in terms of bending, elongation and stiffening are reported.
This paper presents the concept design, the fabrication and the experimental characterization of ... more This paper presents the concept design, the fabrication and the experimental characterization of a unit of a modular manipulator for minimal access surgery. Traditional surgical manipulators are usually based on metallic steerable needles, tendon driven mechanisms or articulated motorized links. In this work the main idea is to combine flexible fluidic actuators enabling omnidirectional bending and elongation capability and the granular jamming phenomenon to implement a selective stiffness changing. The proposed manipulator is based on a series of identical modules, each one consisting of a silicone tube with pneumatic chambers for allowing 3D motion and one central channel for the implementation of the granular jamming phenomenon for stiffening. The silicone is covered by a novel bellows-shaped braided structure maximizing the bending still limiting lateral expansion. In this paper one single module is tested in terms of bending range, elongation capability, generated forces and stiffness changing.
This paper introduces a novel, bioinspired manipulator for minimally invasive surgery (MIS). The ... more This paper introduces a novel, bioinspired manipulator for minimally invasive surgery (MIS). The manipulator is entirely composed of soft materials, and it has been designed to provide similar motion capabilities as the octopus's arm in order to reach the surgical target while exploiting its whole length to actively interact with the biological structures. The manipulator is composed of two identical modules (each of them can be controlled independently) with multi-directional bending and stiffening capabilities, like an octopus arm. In the authors' previous works, the design of the single module has been addressed. Here a two-module manipulator is presented, with the final aim of demonstrating the enhanced capabilities that such a structure can have in comparison with rigid surgical tools currently employed in MIS. The performances in terms of workspace, stiffening capabilities, and generated forces are characterized through experimental tests. The combination of stiffening capabilities and manipulation tasks is also addressed to confirm the manipulator potential employment in a real surgical scenario.
Bioinspiration & Biomimetics, 2012
Soft robotics is a current focus in robotics research because of the expected capability of soft ... more Soft robotics is a current focus in robotics research because of the expected capability of soft robots to better interact with real-world environments. As a point of inspiration in the development of innovative technologies in soft robotics, octopuses are particularly interesting 'animal models'. Octopus arms have unique biomechanical capabilities that combine significant pliability with the ability to exert a great deal of force, because they lack rigid structures but can change and control their degree of stiffness. The octopus arm motor capability is a result of the peculiar arrangement of its muscles and the properties of its tissues. These special abilities have been investigated by the authors in a specific study dedicated to identifying the key principles underlying these biological functions and deriving engineering requirements for robotics solutions. This paper, which is the second in a two-part series, presents how the identified requirements can be used to create innovative technological solutions, such as soft materials, mechanisms and actuators. Experiments indicate the ability of these proposed solutions to ensure the same performance as in the biological model in terms of compliance, elongation and force. These results represent useful and relevant components of innovative soft-robotic systems and suggest their potential use to create a new generation of highly dexterous, soft-bodied robots.
Materials Science and Engineering: C, 2011
... They also confirm that control is simplified by the arrangement of muscles as well as by the ... more ... They also confirm that control is simplified by the arrangement of muscles as well as by the mechanical properties of the muscular hydrostat. Keywords: Biorobotics; Continuum robot; Soft robotics; Embodied intelligence; Octopus arm. ...
... They also confirm that control is simplified by the arrangement of muscles as well as by the ... more ... They also confirm that control is simplified by the arrangement of muscles as well as by the mechanical properties of the muscular hydrostat. Keywords: Biorobotics; Continuum robot; Soft robotics; Embodied intelligence; Octopus arm. ...
The present paper aims at understanding the biomechanics of an octopus tentacle as preliminary wo... more The present paper aims at understanding the biomechanics of an octopus tentacle as preliminary work for designing and developing a new robotic octopus tentacle. The biomechanical characterization of the biological material has been carried out on samples of Octopus vulgaris tentacles with engineering methods and tools, i.e. by biomechanical measurements of the tentacle elasticity and tension-compression stress/stretch curves. Another part of the activities has been devoted to the study of materials that can reproduce the viscoelastic behavior of the tentacle. The work presented here is part of the ongoing study and analysis on new design principles for actuation, sensing, and manipulation control, for robots with increased performance, in terms of dexterity, control, flexibility, applicability.
This work illustrates new tools and methods for an in vivo and direct, but non-invasive, measurem... more This work illustrates new tools and methods for an in vivo and direct, but non-invasive, measurement of an octopus arm mechanical properties. The active elongation (longitudinal stretch) and the pulling force capability are measured on a specimen of Octopus vulgaris in order to quantitatively characterize the parameters describing the arm mechanics, for biomimetic design purposes. The novel approach consists of observing and measuring a living octopus with minimally invasive methods, which allow the animal to move with its complete ability. All tools are conceived in order to create a collaborative interaction with the animal for the acquisition of active measures. The data analysis is executed taking into account the presence of an intrinsic error due to the mobility of the subject and the aquatic environment. Using a system of two synchronized high-speed high-resolution cameras and purpose-made instruments, the maximum elongation of an arm and its rest length (when all muscles fibres are relaxed during propulsion movement) are measured and compared to define the longitudinal stretch, with the impressive average result of 194%. With a similar setup integrated with a force sensor, the pulling force capability is measured as a function of grasp point position along the arm. The measured parameters are used as real specifications for the design of an octopus-like arm with a biomimetic approach.
The octopus provides roboticists with a good example of a completely compliant structure that can... more The octopus provides roboticists with a good example of a completely compliant structure that can however reach good levels of stiffness and then exert forces on its environment. With no rigid structures, the octopus can deform its body and fit small apertures, its arms can bend in all directions and they can even elongate. The peculiar muscular structure of the octopus arm, named muscular hydrostat, acts in fact as a modifiable skeleton, providing stiffness when and where needed. A key point in imitating this muscular structure is that the muscular hydrostat creates a sort of antagonistic mechanism between different muscle fibres. As a consequence, the arm movements are given by a combination of contractions of part of the muscles and passive stretching of the other muscles. On one side, this reduces the contraction requirements for the single muscle; on the other side, the contractile structure must be compliant and passively stretchable. The contractile units proposed here are built with EAP (Electro-Active Polymer) technology, with a particular geometry that increases the contraction range and force, by using soft materials. Contraction tests on prototypes of the contracting units show a very good similarity with a theoretical model and support the starting hypothesis on the possibility of building a robotic octopus-like arm based on an artificial muscular hydrostat.
Bioinspiration & Biomimetics, 2009
This paper illustrates the rationale and the design of a robotic arm inspired by the octopus arm.... more This paper illustrates the rationale and the design of a robotic arm inspired by the octopus arm. The octopus arm (tentacle) presents peculiar features, like the capability of bending in all directions, of producing fast elongations, and of varying the stiffness. Such features are very attractive from a robotics viewpoint and pose demanding requirements on robot kinematics and control, and especially on the materials and the actuators. In the octopus, these unique motor capabilities are obtained thanks to the hydrostatic characteristics of the muscles and to their arrangement in the tentacle. By taking inspiration from them, we designed a robot arm completely soft and compliant, composed of muscles that can contract and that are arranged according to the geometry of the octopus tentacle, so as to reproduce the tentacle motor performance. In this paper we present the design criteria of the robotic tentacle and the fabrication of a generic tentacle muscle, based on a silicone material and on an EAP (Electro-Active Polymer). We designed the EAP with a particular geometry that increases the contraction range and force, and we show how this design, based on a special geometry for the arrangement of the muscles, allows to build the robotic tentacle.
Continuum structures with a very high or infinite number of degrees of freedom (DOF) are very int... more Continuum structures with a very high or infinite number of degrees of freedom (DOF) are very interesting structures in nature. Mimicking this kind of structures artificially is challenging due to the high number of required DOF. This paper presents a kinematic and dynamic model for an underwater robotic manipulator inspired by Octopus vulgaris. Then, a prototype arm inspired by live octopus is presented and the model validated experimentally. Initial comparisons of simulated and experimental results show good agreement.
Recent bio-mimetic robotics and embodied intelligence research have revealed the importance of re... more Recent bio-mimetic robotics and embodied intelligence research have revealed the importance of reciprocal and dynamical coupling between the brain (controller), the body, and the environment. A typical example of this is a soft robot that has a diversity of compliant and elastic body dynamics. Coupling between the environment and the controller is expected to be enhanced because of the softness
... Marcello Calisti, Member, IEEE, Andrea Arienti, Maria Elena Giannaccini, Maurizio Follador,Mi... more ... Marcello Calisti, Member, IEEE, Andrea Arienti, Maria Elena Giannaccini, Maurizio Follador,Michele Giorelli, Matteo Cianchetti, Member, IEEE Barbara Mazzolai Member, IEEE, Cecilia Laschi, Member ... [13] Dario P, Carrozza MC, Guglielmelli E, Laschi C, Menciassi A, Micera S ...
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Papers by Matteo Cianchetti
development of a modular soft manipulator for
minimally invasive surgery, which equals the high
dexterity of classic hyper redundant continuum, but
rigid, robots resulting in safer potential interaction
with internal organs. The manipulator relies on the use
of a soft flexible fluidic actuator in each of its modules,
which can be wireless controlled by means of an
embedded fluidic control unit. This actuation unit is
equipped with three miniaturized latching valves, a
wireless microcontroller board, and a specifically
designed fluidic distributor integrated into the elastomeric
material that the module is made of. FEM
simulations and experimental tests verified the reliability
of the distributor in acting as a piping system
inside each module. The mobility of the fully
integrated soft module was evaluated in terms of
static performances and covered workspace. The
module’s dynamic model during one-chamber motion
was estimated from the parameter estimation analysis.
The characterization of the single module behaviour is
intended as first step to ease the future high level
control of the multi-modular architecture.
development of a modular soft manipulator for
minimally invasive surgery, which equals the high
dexterity of classic hyper redundant continuum, but
rigid, robots resulting in safer potential interaction
with internal organs. The manipulator relies on the use
of a soft flexible fluidic actuator in each of its modules,
which can be wireless controlled by means of an
embedded fluidic control unit. This actuation unit is
equipped with three miniaturized latching valves, a
wireless microcontroller board, and a specifically
designed fluidic distributor integrated into the elastomeric
material that the module is made of. FEM
simulations and experimental tests verified the reliability
of the distributor in acting as a piping system
inside each module. The mobility of the fully
integrated soft module was evaluated in terms of
static performances and covered workspace. The
module’s dynamic model during one-chamber motion
was estimated from the parameter estimation analysis.
The characterization of the single module behaviour is
intended as first step to ease the future high level
control of the multi-modular architecture.