A Bioinspired Soft Actuated Material

Roche, Ellen T.; Wohlfarth, Robert; Overvelde, Johannes T. B.; Vasilyev, Nikolay V.; Pigula, Frank A.; Mooney, David J.; Bertoldi, Katia; Walsh, Conor J.

doi:10.1002/adma.201304018

Cited by 231 publications

(183 citation statements)

References 14 publications

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“…Other advantages include their low production cost, high strength due to the large surface area over which they are able to absorb loads, and high reliability of deployment [28]. As a result, they have found their way into many applications including vehicle wheels, furniture, inflatable boats and buoyancy systems [81], airbags [23,233], membrane roofs [9,105,165], soft robotics [151,160,196,245,246], medical treatments [10,14,147,234] and for entertainment.…”

Section: Inflatable Structuresmentioning

confidence: 99%

HCI meets Material Science

Qamar

Groh

Holman

et al. 2018

Proceedings of the 2018 CHI Conference on Human Factors in Computing Systems

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Section: Inflatable Structuresmentioning

confidence: 99%

HCI meets Material Science

Qamar

Groh

Holman

et al. 2018

Proceedings of the 2018 CHI Conference on Human Factors in Computing Systems

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“…Deriving inspiration from the classical McKibben-style actuator designs, 24,25 where the air chamber of the actuator is covered with fiber winding. Fiber reinforcements have also been introduced in more recent soft actuator prototypes, [26][27][28][29] where a high-strength fiber material is manually wound on the circumference of the actuator. In some such prototypes, grooves created on the outer surface of the actuator during the fabrication process 28 guide the placement of outer fiber reinforcement in a predefined pattern, allowing for repeatability in manufacturing.…”

Section: Introductionmentioning

confidence: 99%

Design and Analysis of a Soft Pneumatic Actuator with Origami Shell Reinforcement

2016

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Soft pneumatic actuators (SPAs) are versatile robotic components enabling diverse and complex soft robot hardware design. However, due to inherent material characteristics exhibited by their primary constitutive material, silicone rubber, they often lack robustness and repeatability in performance. In this article, we present a novel SPA-based bending module design with shell reinforcement. The bidirectional soft actuator presented here is enveloped in a Yoshimura patterned origami shell, which acts as an additional protection layer covering the SPA while providing specific bending resilience throughout the actuator's range of motion. Mechanical tests are performed to characterize several shell folding patterns and their effect on the actuator performance. Details on design decisions and experimental results using the SPA with origami shell modules and performance analysis are presented; the performance of the bending module is significantly enhanced when reinforcement is provided by the shell. With the aid of the shell, the bending module is capable of sustaining higher inflation pressures, delivering larger blocked torques, and generating the targeted motion trajectory.

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“…Recently, researchers have begun to look at medical wearable applications for soft robotics including soft wearable input devices (e.g. wearable keyboards 92 ), soft orthodics for human ankle-foot rehabilitation 37 , soft sensing suits for lower limb measurement 93 , soft actuated systems for gait rehabilitation of rodents who have had their spinal cord surgically cut 94 , and a soft system for simulation of cardiac actuation 95 .…”

Section: Medical/wearable Applicationsmentioning

confidence: 99%

Design, fabrication and control of soft robots

Rus

Tolley

2015

Nature

4,483

2,656

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Conventionally, engineers have employed rigid materials to fabricate precise, predictable robotic systems, which are easily modeled as rigid members connected at discrete joints. Natural systems, however, often match or exceed the performance of robotic systems with deformable bodies. Cephalopods, for example, achieve amazing feats of manipulation and locomotion without a skeleton; even vertebrates like humans achieve dynamic gaits by storing elastic energy in their compliant bones and soft tissues. Inspired by nature, engineers have begun to explore the design and control of soft-bodied robots composed of compliant materials. This Review discusses recent developments in the emerging field of soft robotics.

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A Bioinspired Soft Actuated Material

Cited by 231 publications

References 14 publications

HCI meets Material Science

HCI meets Material Science

Design and Analysis of a Soft Pneumatic Actuator with Origami Shell Reinforcement

Design, fabrication and control of soft robots

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