Modeling, Characterization, and Application of Soft Bellows-Type Pneumatic Actuators for Bionic Locomotion

Ma, Huichen; Zhou, Junjie

doi:10.1007/s10338-022-00346-z

Cited by 10 publications

(4 citation statements)

References 33 publications

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“…As can be seen, PAUL is capable of bending up to 40 • to its vertical axis and the addition of new segments does not cause any noticeable decrease in its bending capacity. Although it remains far from the 80 • in [28] or the 70 • in [32], Pneunet segments and therefore more flexible, this is an acceptable bending capacity. Moreover, the fact that it does not substantially lose its bending capacity by adding segments makes it possible to concatenate bending movements and thus overcome obstacles that a rigid robot would not be able to overcome.…”

Section: Bending Experimentsmentioning

confidence: 99%

“…Different authors have proposed evolutions to this structure. An optimisation of the geometry is carried out in [32], whereas [33] presents a PneuFlex actuator, which has evolved the Pneunet concept by making the beam have a variable cross-section. On the other hand, the works of [34,35] show how it is possible to design pneumatic segments based on this actuator with bidirectional bending.…”

Section: Related Work 21 Pneumatic Actuationmentioning

confidence: 99%

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Design, Manufacturing, and Open-Loop Control of a Soft Pneumatic Arm

García-Samartín,

Rieker,

Barrientos

2024

Actuators

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Soft robots distinguish themselves from traditional robots by embracing flexible kinematics. Because of their recent emergence, there exist numerous uncharted territories, including novel actuators, manufacturing processes, and advanced control methods. This research is centred on the design, fabrication, and control of a pneumatic soft robot. The principal objective is to develop a modular soft robot featuring multiple segments, each one with three degrees of freedom. This yields a tubular structure with five independent degrees of freedom, enabling motion across three spatial dimensions. Physical construction leverages tin-cured silicone and a wax-casting method, refined through an iterative processes. PLA moulds that are 3D-printed and filled with silicone yield the desired model, while bladder-like structures are formed within using solidified paraffin wax-positive moulds. For control, an empirically fine-tuned open-loop system is adopted. This paper culminates in rigorous testing. Finally, the bending ability, weight-carrying capacity, and possible applications are discussed.

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Section: Bending Experimentsmentioning

confidence: 99%

Section: Related Work 21 Pneumatic Actuationmentioning

confidence: 99%

Design, Manufacturing, and Open-Loop Control of a Soft Pneumatic Arm

García-Samartín,

Rieker,

Barrientos

2024

Actuators

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“…square, rectangle, and circle), ii) cell length (Fig. 1), and iii) the number of cells [28], [30]- [32]. The shape, length, and number of cells determine the inner space to be filled, which in turn impacts the inflation/deflation duration and thus influences the motion and characteristics of the bellow type actuator [30].…”

Section: A Design Considerationsmentioning

confidence: 99%

“…1), and iii) the number of cells [28], [30]- [32]. The shape, length, and number of cells determine the inner space to be filled, which in turn impacts the inflation/deflation duration and thus influences the motion and characteristics of the bellow type actuator [30]. Actuator dimensions were first narrowed down based on anthropometric data of the target infant population.…”

Section: A Design Considerationsmentioning

confidence: 99%

A Bidirectional Fabric-based Pneumatic Actuator for the Infant Shoulder: Design and Comparative Kinematic Analysis

Sahin

Dube

Mucchiani

et al. 2022

2022 31st IEEE International Conference on Robot and Human Interactive Communication (RO-MAN)

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This paper focuses on the design and systematic evaluation of fabric-based, bellow-type soft pneumatic actuators to assist with flexion and extension of the elbow, intended for use in infant wearable devices. Initially, the performance of a range of actuator variants was explored via simulation. The actuator variants were parameterized based on the shape, number, and size of the cells present. Subsequently, viable actuator variants identified from the simulations were fabricated and underwent further testing on a physical model based on an infant's body anthropometrics. The performance of these variants was evaluated based on kinematic analyses using metrics including movement smoothness, path length, and elbow joint angle. Internal pressure of the actuators was also attained. Taken together, results reported herein provide valuable insights about the suitability of several actuator designs to serve as components for pediatric wearable assistive devices.

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