An Anthropomorphic Musculoskeletal System with Soft Joint and Multifilament Pneumatic Artificial Muscles

Lin, Zhonghan; Shao, Qi; Liu, Xin-Jun; Zhao, Huichan

doi:10.1002/aisy.202200126

Cited by 11 publications

(7 citation statements)

References 35 publications

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“…5. Soft robotics for healthcare: Soft robotic exosuits, wearables, and manipulators can aid in physical therapy and minimally invasive surgery (MIS), thus improving mobility capabilities, independence of individuals with disabilities, and reducing patients' recovery time (SDG-3) (di Poliero et al, 2020;Giordano et al, 2021b;Lin et al, 2022). In a case of MIS, Gopesh et al (2021) developed submillimeter diameter, hydraulically actuated devices to enable active steerability of microcatheter tips.…”

Section: Synergy Between Soft Robotics and Sustainable Development Goalsmentioning

confidence: 99%

Soft robotics towards sustainable development goals and climate actions

2023

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Soft robotics technology can aid in achieving United Nations’ Sustainable Development Goals (SDGs) and the Paris Climate Agreement through development of autonomous, environmentally responsible machines powered by renewable energy. By utilizing soft robotics, we can mitigate the detrimental effects of climate change on human society and the natural world through fostering adaptation, restoration, and remediation. Moreover, the implementation of soft robotics can lead to groundbreaking discoveries in material science, biology, control systems, energy efficiency, and sustainable manufacturing processes. However, to achieve these goals, we need further improvements in understanding biological principles at the basis of embodied and physical intelligence, environment-friendly materials, and energy-saving strategies to design and manufacture self-piloting and field-ready soft robots. This paper provides insights on how soft robotics can address the pressing issue of environmental sustainability. Sustainable manufacturing of soft robots at a large scale, exploring the potential of biodegradable and bioinspired materials, and integrating onboard renewable energy sources to promote autonomy and intelligence are some of the urgent challenges of this field that we discuss in this paper. Specifically, we will present field-ready soft robots that address targeted productive applications in urban farming, healthcare, land and ocean preservation, disaster remediation, and clean and affordable energy, thus supporting some of the SDGs. By embracing soft robotics as a solution, we can concretely support economic growth and sustainable industry, drive solutions for environment protection and clean energy, and improve overall health and well-being.

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Section: Synergy Between Soft Robotics and Sustainable Development Goalsmentioning

confidence: 99%

Soft robotics towards sustainable development goals and climate actions

2023

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“…Equipped with four pneumatic artificial muscles and gait analysis sensors, this device achieves a range of motion of 27 degrees. Experimental results validate its controllability using a linear time-invariant (LTI) controller [ 43 ]. Another novel actuator design, the folded pneumatic artificial muscle (foldPAM), features symmetrically folded, thin-filmed air pouches.…”

Section: Advancements In Soft Pneumatic Musclesmentioning

confidence: 99%

Soft Pneumatic Muscles: Revolutionizing Human Assistive Devices with Geometric Design and Intelligent Control

et al. 2023

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Soft robotics, a recent advancement in robotics systems, distinguishes itself by utilizing soft and flexible materials like silicon rubber, prioritizing safety during human interaction, and excelling in handling complex or delicate objects. Soft pneumatic actuators, a prevalent type of soft robot, are the focus of this paper. A new geometrical parameter for soft artificial pneumatic muscles is introduced, enabling the prediction of actuation behavior using analytical models based on specific design parameters. The study investigated the impact of the chamber pitch parameter and actuation conditions on the deformation direction and internal stress of three tested soft pneumatic muscle (SPM) models. Simulation involved the modeling of hyperelastic materials using finite element analysis. Additionally, an artificial neural network (ANN) was employed to predict pressure values in three chambers at desired Cartesian positions. The trained ANN model demonstrated exceptional performance. It achieved high accuracy with training, validation, and testing residuals of 99.58%, 99.89%, and 99.79%, respectively. During the validation simulations and neural network results, the maximum errors in the x, y, and z coordinates were found to be 9.3%, 7.83%, and 8.8%, respectively. These results highlight the successful performance and efficacy of the trained ANN model in accurately predicting pressure values for the desired positions in the soft pneumatic muscles.

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“…Their manufacturing, indeed, often requires purposely designed machines for the mass production of the individual actuators as well as several manual steps both to complete the fabrication of each fiber and to assemble them mimicking the muscle architectures. Furthermore, the troublesome fabrication and the limited versatility of the layout of many state-of-the-art actuators intrinsically hinder their implementation in muscle architecture that require arrangements more articulated than the parallel disposition [37][38][39][40][41][42][43].…”

Section: Introductionmentioning

confidence: 99%

3D-printed hierarchical arrangements of actuators mimicking biological muscular architectures

2023

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Being able to imitate the sophisticated muscular architectures that characterize the animal kingdom in biomimetic machines would allow them to perform articulated movements with the same naturalness. In soft robotics, multiple actuation technologies have been developed to mimic the contraction of a single natural muscle, but a few of them can be implemented in complex architectures capable of diversifying deformations and forces. In this work, we present three different biomimetic muscle architectures, i.e., fusiform, parallel, and bipennate, which are based on hierarchical arrangements of multiple pneumatic actuators. These biomimetic architectures are monolithic structures composed of thirty-six pneumatic actuators each, directly 3D printed through low-cost printers and commercial materials without any assembly phase. The considerable number of actuators involved enabled the adoption and consequent comparison of two regulation strategies: one based on input modulation, commonly adopted in pneumatic systems, and one based on fiber recruitment, mimicking the regulation behavior of natural muscles. The straightforward realization through additive manufacturing processes of muscle architectures regulated by fiber recruitment strategies facilitates the development of articulated muscular systems for biomimetics machines increasingly similar to the natural ones.

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An Anthropomorphic Musculoskeletal System with Soft Joint and Multifilament Pneumatic Artificial Muscles

Cited by 11 publications

References 35 publications

Soft robotics towards sustainable development goals and climate actions

Soft robotics towards sustainable development goals and climate actions

Soft Pneumatic Muscles: Revolutionizing Human Assistive Devices with Geometric Design and Intelligent Control

3D-printed hierarchical arrangements of actuators mimicking biological muscular architectures

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