Folded-Tube Soft Pneumatic Actuators for Bending

Felt, Wyatt

doi:10.1089/soro.2018.0075

Cited by 32 publications

(11 citation statements)

References 34 publications

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“…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). The use of anisotropic textiles has been used to make bending actuators for wearable applications (Cappello et al, 2018).…”

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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“…Thus, it was concluded that this model is best suited for actuators with relatively large aspect ratios, It may be reasonably hypothesized that model accuracy increases for actuators with increasingly similar aspect ratio to those presented by Felt in ( Felt 2019 ), the work from which the model presented here is derived. Leaving out specimen D2 and fitting a linear relation to aspect ratio and mean model error, the aspect ratio used by Felt (80/58 mm = 1.38) projects an error of nearly zero.…”

Section: Resultsmentioning

confidence: 72%

“…Based on the biomechanics data set forth by winter in ( Winter 2009 ), and assuming a nominal body mass of 62 kg ( Walpole et al, 2012 ), the nominal static torque required to hold the leg at 30° hip flexion is 19.8 Nm. In order to determine necessary dimensions for the pneumatic rotary actuators to achieve this target torque, a physical model was developed based on the model presented by Felt ( Felt 2019 ).…”

Section: Methodsmentioning

confidence: 99%

A Wearable Soft Robotic Exoskeleton for Hip Flexion Rehabilitation

et al. 2022

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Leg motion is essential to everyday tasks, yet many face a daily struggle due to leg motion impairment. Traditional robotic solutions for lower limb rehabilitation have arisen, but they may bare some limitations due to their cost. Soft robotics utilizes soft, pliable materials which may afford a less costly robotic solution. This work presents a soft-pneumatic-actuator-driven exoskeleton for hip flexion rehabilitation. An array of soft pneumatic rotary actuators is used for torque generation. An analytical model of the actuators is validated and used to determine actuator parameters for the target application of hip flexion. The performance of the assembly is assessed, and it is found capable of the target torque for hip flexion, 19.8 Nm at 30°, requiring 86 kPa to reach that torque output. The assembly exhibits a maximum torque of 31 Nm under the conditions tested. The full exoskeleton assembly is then assessed with healthy human subjects as they perform a set of lower limb motions. For one motion, the Leg Raise, a muscle signal reduction of 43.5% is observed during device assistance, as compared to not wearing the device. This reduction in muscle effort indicates that the device is effective in providing hip flexion assistance and suggests that pneumatic-rotary-actuator-driven exoskeletons are a viable solution to realize more accessible options for those who suffer from lower limb immobility.

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“…Robotic actuators are generally developed based on the structural transformation with origami [ 90 , 143 , 163 , 164 , 165 , 166 ]. Kim et al, presented a soft fluidic bending actuator with gripping capability [ 166 ].…”

Section: Applicationsmentioning

confidence: 99%

4D Multiscale Origami Soft Robots: A Review

Son

Park²,

Na³

et al. 2022

Polymers

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Time-dependent shape-transferable soft robots are important for various intelligent applications in flexible electronics and bionics. Four-dimensional (4D) shape changes can offer versatile functional advantages during operations to soft robots that respond to external environmental stimuli, including heat, pH, light, electric, or pneumatic triggers. This review investigates the current advances in multiscale soft robots that can display 4D shape transformations. This review first focuses on material selection to demonstrate 4D origami-driven shape transformations. Second, this review investigates versatile fabrication strategies to form the 4D mechanical structures of soft robots. Third, this review surveys the folding, rolling, bending, and wrinkling mechanisms of soft robots during operation. Fourth, this review highlights the diverse applications of 4D origami-driven soft robots in actuators, sensors, and bionics. Finally, perspectives on future directions and challenges in the development of intelligent soft robots in real operational environments are discussed.

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Folded-Tube Soft Pneumatic Actuators for Bending

Cited by 32 publications

References 34 publications

A Novel Soft Bending Actuator Using Combined Positive and Negative Pressures

A Novel Soft Bending Actuator Using Combined Positive and Negative Pressures

A Wearable Soft Robotic Exoskeleton for Hip Flexion Rehabilitation

4D Multiscale Origami Soft Robots: A Review

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