Pleated Film-Based Soft Twisting Actuator

Ahn, Channing C.; Wang, Wei; Jung, Jucheol; Rodrigue, Hugo

doi:10.1007/s12541-019-00110-3

Cited by 10 publications

(3 citation statements)

References 38 publications

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“…[1][2][3][4][5][6][7] Elastomers, [8] hydrogels, [9] shape memory alloys, [10] and self-healing polymers [11] have been utilized to create fundamental bioinspired kinematics, encompassing bending, [12,13] extending, [14] and twisting motions. [15,16] The bioinspired kinematics devised for specific application areas are based on the design, mechanical deformation, and straining range capabilities of the chosen materials. Textile materials are highly suitable for constructing soft actuators due to their lightweight, compliant, low-cost, hierarchical structure, and compatibility with the human body.…”

Section: Introductionmentioning

confidence: 99%

Resistive Self‐Sensing Controllable Fabric‐Based Actuator: A Novel Approach to Creating Anisotropy

Yilmaz,

Ozlem,

Khalilbayli

et al. 2024

Advanced Sensor Research

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Designing advanced soft robots with soft sensing capabilities for real‐world applications remains challenging due to the intricate integration of actuation and sensor capabilities, which require diverse materials and complex procedures. This paper introduces a fabric‐based robotic technology featuring an “all textile‐based self‐sensing pneumatic actuator” and a low‐cost resistive strain sensor created through simple sewing techniques. The novel approach eliminates the need for additional strain‐limiting woven fabric, simplifying the manufacturing process. It also enables the development of bioinspired motions such as bending, twisting, and snake‐like movements. The electromechanical behaviors of the sensor and bending actuator are tested for their performance under positive air pressure. Through mathematical modeling, the actuator's sensing capacity is estimated accurately, providing precise feedback for pressure and position control. Different closed‐loop controller types, including On–Off and Proportional Integral Derivative (PID) control, are evaluated for their effectiveness. Furthermore, the practical application of the sensing actuator is demonstrated by integrating it into a wearable glove, showcasing its enhanced sensing capabilities for finger‐like soft wearable robotic applications. This research tackles the challenges associated with designing advanced soft robots with integrated sensing capabilities, offering a promising fabric‐based solution that can drive significant advancements in real‐world applications.

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Section: Introductionmentioning

confidence: 99%

Resistive Self‐Sensing Controllable Fabric‐Based Actuator: A Novel Approach to Creating Anisotropy

Yilmaz,

Ozlem,

Khalilbayli

et al. 2024

Advanced Sensor Research

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“…Among them, soft grippers have received more and more attention due to their initial excellent performance in grasping fragile objects [5,6], medical rehabilitation, and assisted rescue [7]. Soft grippers using compressed air as a power source are the most researched and applied, which are categorized by their structural forms, mainly PneuNets actuators [8], origami actuators [9][10][11], folded-membrane actuators [12,13] and bellows actuators [14][15][16][17][18]. To meet the requirements of flexibility and large * Author to whom any correspondence should be addressed.…”

Section: Introductionmentioning

confidence: 99%

Corrugated V-fold soft actuator with large deformation and high force density

Xu,

Liu,

Zhang

et al. 2023

Smart Mater. Struct.

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Soft pneumatic actuators with a corrugated structure have the advantage of low inflation pressure and a large actuation range and have great potential for use in grippers. However, they are generally difficult to have both large deformation and high force density performance. Inspired by the hydraulic joints of spider legs, this paper designs a multi-cavity soft-pneumatic actuator with a corrugated V-fold structure, which realizes bending through the deformation of the air cavity structure instead of the traditional way of squeezing the air cavities against each other, and has significantly large curvature high force density compared with actuators such as PneuNets. At an inflation pressure of 40 kPa, the proposed soft actuator achieves a bending angle of 306° with a curvature of 0.114 rad mm−1, while at an inflation pressure of 45 kPa, the actuator achieves an actuation force of 5.15 N with a force density of 0.0101 mN (mm3.kPa)−1. The modeling approach based on continuum mechanics modeling of soft materials combined with finite element analysis (FEA) (or experiment) is proposed to achieve accurate modeling of the bending angle and actuation force of actuators with complex corrugated structures. In addition, the proposed actuator has made initial explorations into the application of soft grippers and has achieved fairly good gripping results compared to other types of grippers.

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“…For example, pouch motors and textile bellows are linear actuator that can be made using thin film and either a soldering iron or a low-cost impulse sealer [17][18][19][20]. Pouch motors can also be made into bending actuators using additional materials [21]. Textiles with different anisotropic properties in which an inflatable bladder is placed was used to made bending actuators capable of large deformations [22], and various other designs using technical textiles have been presented [23][24][25][26][27][28].…”

Section: Introductionmentioning

confidence: 99%

Reconfigurable constriction-based soft actuation for decorative morphing flowers

2021

Self Cite

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Most soft actuators producing joint-like deformations rely on the expansion of materials or on the use of multiple chambers in equilibrium while requiring additional structures for inter-connecting the joints. This paper introduces a new soft pneumatic actuator where a constriction placed on an inflatable tube allows the tube to bend around the constriction through the formation of a crease around the constriction. The bending of the tube then changes as the shape of the crease change under a change in pressure without relying on the expansion of the material. This results in an actuator that has a single chamber where multiple constrictions can be placed and freely re-arranged to form different structures as their insertion is nonpermanent. The constriction is also able to induce lateral bending deformations such that the actuator can assume a helical configuration using multiple constrictions spaced over the length of the actuator. The performance of different constriction designs in terms of bending angle without any payloads and with additional payloads is presented followed by their implementation in three different designs of morphing decorative flowers. The actuator itself does not produce a large force and its range of motion is quite limited, but it has a unique set of properties that make it ideal for visual and creative applications as well as educational purposes.

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Pleated Film-Based Soft Twisting Actuator

Cited by 10 publications

References 38 publications

Resistive Self‐Sensing Controllable Fabric‐Based Actuator: A Novel Approach to Creating Anisotropy

Resistive Self‐Sensing Controllable Fabric‐Based Actuator: A Novel Approach to Creating Anisotropy

Corrugated V-fold soft actuator with large deformation and high force density

Reconfigurable constriction-based soft actuation for decorative morphing flowers

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