Development of a pneumatic soft actuator with pleated inflatable structures

Nishioka, Yasutaka; Uesu, Megumi; Tsuboi, Hisae; Kawamura, Sadao; Masuda, Wataru; Yasuda, Toshihiko; Yamano, Mitsuhiro

doi:10.1080/01691864.2017.1345323

Cited by 37 publications

(28 citation statements)

References 17 publications

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“…Pouch motors with rigid constraints between pouches have been used to produce bending actuators (Niiyama et al, 2015;Oh et al, 2019). Tubes made with inextensible materials with folds have been used to realize smooth or jointed deformations using thermoplastic films (Nishioka et al, 2012(Nishioka et al, , 2017Amase et al, 2015;Sareen et al, 2017). Bending actuators using inflatable bellows and folded tubes have been developed capable of large forces and deformations (Best et al, 2015;Felt, 2019).…”

Section: Introductionmentioning

confidence: 99%

A Novel Soft Bending Actuator Using Combined Positive and Negative Pressures

Fatahillah

Rodrigue

2020

Front. Bioeng. Biotechnol.

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Most soft pneumatic actuators for producing bending actuation have made use of either positive or negative pressure and adjusted their design in consequence. In the proposed paper, a novel soft bending actuator using combined positive and negative pressures (PNP) where the bending force of a negative pressure actuator and a positive pressure actuator is combined into a single actuating structure. This actuator is capable of producing a blocked force as high as 150 N at a combined positive pressure of 60 kPa and negative pressure of 60 kPa while still being able to produce large bending deformations. It was found that the equilibrium angle of PNP actuation is lower than using only negative pressure but that the actuator can produce larger forces at angles below the equilibrium angle of using positive pressure only. The actuator can use PNP actuation to produce large forces at lower bending angles and negative pressure actuation for producing large bending angles. This actuator was implemented in a soft robotic gripper capable of lifting large objects weighing up to 4 kg and a soft pinching gripper capable of holding a notebook weighing 1.85 kg by pinching it. The proposed actuator is capable of large forces and is versatile such that it is expected to be used in applications such as agriculture where many objects tend to be large and heavy yet require a delicate touch.

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Section: Introductionmentioning

confidence: 99%

A Novel Soft Bending Actuator Using Combined Positive and Negative Pressures

Fatahillah

Rodrigue

2020

Front. Bioeng. Biotechnol.

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“…Their high transverse flexibility with respect to their in plane stiffness can be used to favor deformation in specific directions. Additionally, pleats can be added to the design (Nishioka et al, 2017;Sareen et al, 2017), allowing the motion to follow prescribed trajectories. This "mechanical programming" can also be performed using materials with different stiffness values.…”

Section: Soft Fluidic Actuationmentioning

confidence: 99%

“…Another possibility offered by thermoplastics is mechanical or thermal fusion. These methods are used to create pockets or pleats: several sheets are thermally sealed together to obtain complex closed geometries (Niiyama et al, 2014;Nishioka et al, 2017;Sareen et al, 2017). However, because of the low thermal conductivity of polymers, it is difficult to use this same method on thicker parts.…”

Section: Bondingmentioning

confidence: 99%

Soft Robots Manufacturing: A Review

et al. 2018

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The growing interest in soft robots comes from the new possibilities offered by these systems to cope with problems that cannot be addressed by robots built from rigid bodies. Many innovative solutions have been developed in recent years to design soft components and systems. They all demonstrate how soft robotics development is closely dependent on advanced manufacturing processes. This review aims at giving an insight on the current state of the art in soft robotics manufacturing. It first puts in light the elementary components that can be used to develop soft actuators, whether they use fluids, shape memory alloys, electro-active polymers or stimuli-responsive materials. Other types of elementary components, such as soft smart structures or soft-rigid hybrid systems, are then presented. The second part of this review deals with the manufacturing methods used to build complete soft structures. It includes molding, with possibly reinforcements and inclusions, additive manufacturing, thin-film manufacturing, shape deposition manufacturing, and bonding. The paper conclusions sums up the pros and cons of the presented techniques, and open to developing topics such as design methods for soft robotics and sensing technologies.

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“…They can consist of a single layer of fabric, which has to be airtight and absorb the tensile stress (see e.g. [13]) or two layers (see e.g. [9]), where the inner layer is airtight and the outer layer absorbs the forces.…”

Section: Introductionmentioning

confidence: 99%

Design, Modeling and Control of a Soft Robotic Arm

Hofer

D’Andrea

2018

2018 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)

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In this paper we present the design of a hybrid robotic arm using soft, inflatable bladders for actuation. Low cost switching valves are used for pressure control, where the valve model is identified experimentally. A model of the robotic arm is derived based on system identification and used to derive a linear quadratic Gaussian controller. A method to solve limitations of the employed switching valves is proposed and experimentally proven to improve tracking performance. The closed loop control performance of the robotic arm is demonstrated by stabilizing a rotational inverted pendulum known as the Furuta pendulum.

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Development of a pneumatic soft actuator with pleated inflatable structures

Cited by 37 publications

References 17 publications

A Novel Soft Bending Actuator Using Combined Positive and Negative Pressures

A Novel Soft Bending Actuator Using Combined Positive and Negative Pressures

Soft Robots Manufacturing: A Review

Design, Modeling and Control of a Soft Robotic Arm

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