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Compliant pneumatic muscle structures and systems for extra-vehicular and intra-vehicular activities in space environments (2021)
Book Chapter
Kihara, S., Al-Ibadi, A., Al-Fahaam, H., El-Hussieny, H., Davis, S., Nefti-Meziani, S., & Patrouix, P. (2021). Compliant pneumatic muscle structures and systems for extra-vehicular and intra-vehicular activities in space environments. In Y. Gao (Ed.), Space Robotics and Autonomous Systems: Technologies, advances and applications (43-76). Institution of Engineering and Technology (IET). https://doi.org/10.1049/PBCE131E_ch3

In space environments, astronauts have duties that need to be addressed and some of them can be overwhelming, especially considering, in most cases, the crew members in the space station are normally a few. This can be resolved by accompanying the as... Read More about Compliant pneumatic muscle structures and systems for extra-vehicular and intra-vehicular activities in space environments.

Controlling of pneumatic muscle actuator systems by Parallel Structure of Neural Network and Proportional Controllers (PNNP) (2020)
Journal Article
Al-Ibadi, A., Nefti-Meziani, S., & Davis, S. (2020). Controlling of pneumatic muscle actuator systems by Parallel Structure of Neural Network and Proportional Controllers (PNNP). Frontiers in Robotics and AI, 7, 115. https://doi.org/10.3389/frobt.2020.00115

This article proposed a novel controller structure to track the nonlinear behavior of the pneumatic muscle actuator (PMA), such as the elongation for the extensor actuator and bending for the bending PMA. The proposed controller consists neural netwo... Read More about Controlling of pneumatic muscle actuator systems by Parallel Structure of Neural Network and Proportional Controllers (PNNP).

The design, kinematics and torque analysis of the self-bending soft contraction actuator (2020)
Journal Article
Al-Ibadi, A., Nefti-Meziani, S., & Davis, S. (2020). The design, kinematics and torque analysis of the self-bending soft contraction actuator. Actuators open access journal, 9(2), e33. https://doi.org/10.3390/act9020033

This article presents the development of a self-bending contraction actuator (SBCA) through analysis of its structure, kinematics, and torque formulas, and then explores its applications. The proposed actuator has been fabricated by two methods to pr... Read More about The design, kinematics and torque analysis of the self-bending soft contraction actuator.

Novel design and position control strategy of a soft robot arm (2018)
Journal Article
Al-Ibadi, A., Nefti-Meziani, S., Davis, S., & Theodoridis, T. (2018). Novel design and position control strategy of a soft robot arm. Robotics, 7(4), https://doi.org/10.3390/robotics7040072

This article presents a novel design of a continuum arm, which has the ability to extend and bend efficiently. Numerous designs and experiments have been done to different dimensions on both types of McKibben pneumatic muscle actuators (PMA) in order... Read More about Novel design and position control strategy of a soft robot arm.

Variable stiffness robotic hand for stable grasp and flexible handling (2018)
Journal Article
Mahboubi, S., Davis, S., & Nefti-Meziani, S. (2018). Variable stiffness robotic hand for stable grasp and flexible handling. IEEE Access, 6, 68195-68209. https://doi.org/10.1109/ACCESS.2018.2879633

Robotic grasping is a challenging area in the field of robotics. When interacting with an object, the dynamic properties of the object will play an important role where a gripper (as a system), which has been shown to be stable as per appropriate sta... Read More about Variable stiffness robotic hand for stable grasp and flexible handling.

Human-robot shared control for split-site interaction and disabled assistance (2018)
Presentation / Conference
Al-Ibadi, A., Nefti-Meziani, S., & Davis, S. (2018, September). Human-robot shared control for split-site interaction and disabled assistance. Presented at 8th Joint Workshop on New Technologies for Computer/Robot Assisted Surgery (CRAS), London, UK

The context where the robot will be used leads to understanding the interaction requirement among the robots and between the human and robot. This includes the number of humans and robots to be used, the task to be solved, and in several cases, the h... Read More about Human-robot shared control for split-site interaction and disabled assistance.

Design of two segments continuum robot arm based on pneumatic muscle actuator (PMA) (2018)
Presentation / Conference
Al-Ibadi, A., Nefti-Meziani, S., Davis, S., & Theodoridis, T. (2018, September). Design of two segments continuum robot arm based on pneumatic muscle actuator (PMA). Presented at 24th International Conference on Automation & Computing, Newcastle, UK

This paper proposes a novel continuum robot arm based on the pneumatic muscle actuator (PMA). The simple design of the extensor and the contractor PMAs are used to implement the extension and the contraction sections respectively. Five actuators a... Read More about Design of two segments continuum robot arm based on pneumatic muscle actuator (PMA).

The design and mathematical model of a novel variable stiffness extensor-contractor pneumatic artificial muscle (2018)
Journal Article
Al-Fahaam, H., Nefti-Meziani, S., Theodoridis, T., & Davis, S. (2018). The design and mathematical model of a novel variable stiffness extensor-contractor pneumatic artificial muscle. Soft Robotics, 5(5), 576-591. https://doi.org/10.1089/soro.2018.0010

This article presents the design of a novel Extensor-Contractor Pneumatic Artificial Muscle (ECPAM). This new actuator has numerous advantages over traditional pneumatic artificial muscles. These include the ability to both contract and extend relati... Read More about The design and mathematical model of a novel variable stiffness extensor-contractor pneumatic artificial muscle.

Design and control of a novel variable stiffness soft arm (2018)
Journal Article
Hao, L., Chaoqun, X., Giannaccini, M., Cheng, H., Zhang, Y., Nefti-Meziani, S., & Davis, S. (2018). Design and control of a novel variable stiffness soft arm. Advanced robotics : the international journal of the Robotics Society of Japan, 32(11), 605-622. https://doi.org/10.1080/01691864.2018.1476179

Soft robot arms possess such characteristics as light weight, simple structure and good adaptability to the environment, among others. On the other hand, robust control of soft robot arms presents many difficulties. Based on these reasons, this pap... Read More about Design and control of a novel variable stiffness soft arm.

Design, kinematics, and controlling a novel soft robot arm with parallel motion (2018)
Journal Article
Al-Ibadi, A., Nefti-Meziani, S., & Davis, S. (2018). Design, kinematics, and controlling a novel soft robot arm with parallel motion. Robotics, 7(2), 19. https://doi.org/10.3390/robotics7020019

This article presents a novel design for a double bend pneumatic muscle actuator (DB-PMA) inspired by snake lateral undulation. The presented actuator has the ability to bend in opposite directions from its two halves. This behavior results in horizo... Read More about Design, kinematics, and controlling a novel soft robot arm with parallel motion.

Novel soft bending actuator based power augmentation hand exoskeleton controlled by human intention (2018)
Journal Article
Al-Fahaam, H., Davis, S., Nefti-Meziani, S., & Theodoridis, T. (2018). Novel soft bending actuator based power augmentation hand exoskeleton controlled by human intention. Intelligent Service Robotics, 11(3), 247-268. https://doi.org/10.1007/s11370-018-0250-4

This article presents the development of a soft material power augmentation wearable robot using novel bending soft artificial muscles. This soft exoskeleton was developed as a human hand power augmentation system for healthy or partially hand disabl... Read More about Novel soft bending actuator based power augmentation hand exoskeleton controlled by human intention.

Development of a SMA-fishing-line-McKibben bending actuator (2018)
Journal Article
Chaoqun, X., Guo, J., Yang, C., Lina, H., & Davis, S. (2018). Development of a SMA-fishing-line-McKibben bending actuator. IEEE Access, 6, 27183-27189. https://doi.org/10.1109/ACCESS.2018.2830314

High power-to-weight ratio soft artificial muscles are of overarching importance to enable inherently safer solutions to human-robot interactions. Traditional air driven soft McKibben artificial muscles are linear actuators. It is impossible for them... Read More about Development of a SMA-fishing-line-McKibben bending actuator.

A circular pneumatic muscle actuator (CPMA) inspired by human skeletal muscles (2018)
Presentation / Conference
Al-Ibadi, A., Nefti-Meziani, S., & Davis, S. (2018, April). A circular pneumatic muscle actuator (CPMA) inspired by human skeletal muscles. Presented at RoboSoft 2018, Livorno, Italy

This paper illustrates the design, implementation and kinematics of a novel circular pneumatic muscle actuator (CPMA), inspired by the skeletal muscles of a human. The variation of the inner diameter of this actuator is a unique feature. Furthermore,... Read More about A circular pneumatic muscle actuator (CPMA) inspired by human skeletal muscles.

Active soft end effectors for efficient grasping and safe handling (2018)
Journal Article
Al-Ibadi, A., Nefti-Meziani, S., & Davis, S. (2018). Active soft end effectors for efficient grasping and safe handling. IEEE Access, 6, 23591-23601. https://doi.org/10.1109/ACCESS.2018.2829351

The end effector is a major part of a robot system and it defines the task the robot can perform. However, typically, a gripper is suited to grasping only a single or relatively small number of different objects. Dexterous grippers offer greater gras... Read More about Active soft end effectors for efficient grasping and safe handling.

A variable stiffness soft gripper using granular jamming and biologically inspired pneumatic muscles (2018)
Journal Article
Al Abeach, L., Nefti-Meziani, S., Theodoridis, T., & Davis, S. (2018). A variable stiffness soft gripper using granular jamming and biologically inspired pneumatic muscles. Journal of Bionic Engineering, 15(2), 236-246. https://doi.org/10.1007/s42235-018-0018-8

As the domains in which robots operate change the objects a robot may be required to grasp and manipulate are likely to vary significantly and often. Furthermore there is increasing likelihood that in the future robots will work collaboratively along... Read More about A variable stiffness soft gripper using granular jamming and biologically inspired pneumatic muscles.

Design, implementation and modelling of the single and multiple extensor pneumatic muscle actuators (2018)
Journal Article
actuators. Systems Science and Control Engineering, 6(1), 80-89. https://doi.org/10.1080/21642583.2018.1451787

The soft actuator represents a valuable addition to the robotics research area in last two decades. These actuators provide significant features such as lightweight, softness, high force to weight ratio and the ability to form in different shapes. Th... Read More about Design, implementation and modelling of the single and multiple extensor pneumatic muscle actuators.

The design and mathematical modelling of novel extensor bending pneumatic artificial muscles (EBPAMs) for soft exoskeletons (2017)
Journal Article
Al-Fahaam, H., Davis, S., & Nefti-Meziani, S. (2017). The design and mathematical modelling of novel extensor bending pneumatic artificial muscles (EBPAMs) for soft exoskeletons. Robotics and autonomous systems, 99, 63-74. https://doi.org/10.1016/j.robot.2017.10.010

This article presents the development of a power augmentation and rehabilitation exoskeleton based on a novel actuator. The proposed soft actuators are extensor bending pneumatic artificial muscles. This type of soft actuator is derived from extendin... Read More about The design and mathematical modelling of novel extensor bending pneumatic artificial muscles (EBPAMs) for soft exoskeletons.

Novel design of a soft lightweight pneumatic continuum robot arm with decoupled variable stiffness and positioning (2017)
Journal Article
Giannaccini, M., Xiang, C., Atyabi, A., Theodoridis, T., Nefti-Meziani, S., & Davis, S. (2018). Novel design of a soft lightweight pneumatic continuum robot arm with decoupled variable stiffness and positioning. Soft Robotics, 5(1), 54-70. https://doi.org/10.1089/soro.2016.0066

Soft robot arms possess unique capabilities when it comes to adaptability, flexibility and dexterity. In addition, soft systems that are pneumatically actuated can claim high power to weight ratio. One of the main drawbacks of pneumatically actuated... Read More about Novel design of a soft lightweight pneumatic continuum robot arm with decoupled variable stiffness and positioning.

Efficient structure-based models for the McKibben contraction pneumatic muscle actuator : the full description of the behaviour of the contraction PMA (2017)
Journal Article
Al-Ibadi, A., Nefti-Meziani, S., & Davis, S. (2017). Efficient structure-based models for the McKibben contraction pneumatic muscle actuator : the full description of the behaviour of the contraction PMA. Actuators open access journal, 6(4), 32. https://doi.org/10.3390/act6040032

To clarify the advantages of using soft robots in all aspects of life, the effective behaviour of the pneumatic muscle actuator (PMA) must be known. In this work, the performances of the PMA are explained and modelled with three formulas. The first f... Read More about Efficient structure-based models for the McKibben contraction pneumatic muscle actuator : the full description of the behaviour of the contraction PMA.