The lobster-inspired antagonistic actuation mechanism towards a bending module

Yaohui Chen, Hoam Chung, Bernard Chen, Baoyinjiya, Yonghang Sun

Research output: Chapter in Book/Report/Conference proceedingConference PaperOther

1 Citation (Scopus)


This paper describes a new type of bending module inspired, in part, by the musculoskeletal structure of the lobster leg joint. The bending module proposed combines enhanced torque output, reconfigurability in assembling, safe compliant actuation, and accurate control on its mechanical performance. In this module, antagonistic soft chambers are enveloped by exoskeleton shells, and the bending angle and the stiffness can be independently adjusted by controlling the input pressure in the two chambers. Theoretical models are developed to characterize the relationships between the input pressure, bending angle, and stiffness, and a controller for angle control and stiffness tuning is constructed with experimental validation. The fabricated module can reach the maximum torque output of 109.7 N•mm under 40 kPa and the stiffness range from 40 to 220 N•mm / rad, demonstrating its capacity to fulfill both safe interactions and forceful tasks.

Original languageEnglish
Title of host publication2020 IEEE International Conference on Robotics and Automation, ICRA 2020
PublisherIEEE, Institute of Electrical and Electronics Engineers
Number of pages7
ISBN (Electronic)9781728173955
Publication statusPublished - May 2020
EventIEEE International Conference on Robotics and Automation 2020 - Paris, France
Duration: 31 May 202031 Aug 2020

Publication series

NameProceedings - IEEE International Conference on Robotics and Automation
ISSN (Print)1050-4729


ConferenceIEEE International Conference on Robotics and Automation 2020
Abbreviated titleICRA 2020
Internet address

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