Soft Finger Modelling and Co-Simulation Control towards Assistive Exoskeleton Hand Glove

El-Agroudy, Mohammed N.; Awad, Mohammed I.; Maged, Shady A.

doi:10.3390/mi12020181

Cited by 5 publications

(3 citation statements)

References 13 publications

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“…It is important to note that the limitations of our static models become more pronounced when actuation speed becomes a crucial factor. However, in specific applications like soft rehabilitation devices, where ROM takes precedence over speed, the current models can still be considered adequate [ 36 , 37 ]. Consequently, there may be variations in the experimental results when higher flow rates and the damping effects of the silicone rubber are considered.…”

Section: Discussionmentioning

confidence: 99%

Quasi-Static Modeling Framework for Soft Bellow-Based Biomimetic Actuators

Heung,

Lei,

Liang

et al. 2024

Biomimetics

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Soft robots that incorporate elastomeric matrices and flexible materials have gained attention for their unique capabilities, surpassing those of rigid robots, with increased degrees of freedom and movement. Research has highlighted the adaptability, agility, and sensitivity of soft robotic actuators in various applications, including industrial grippers, locomotive robots, wearable assistive devices, and more. It has been demonstrated that bellow-shaped actuators exhibit greater efficiency compared to uniformly shaped fiber-reinforced actuators as they require less input pressure to achieve a comparable range of motion (ROM). Nevertheless, the mathematical quantification of the performance of bellow-based soft fluidic actuators is not well established due to their inherent non-uniform and complex structure, particularly when compared to fiber-reinforced actuators. Furthermore, the design of bellow dimensions is mostly based on intuition without standardized guidance and criteria. This article presents a comprehensive description of the quasi-static analytical modeling process used to analyze bellow-based soft actuators with linear extension. The results of the models are validated through finite element method (FEM) simulations and experimental testing, considering elongation in free space under fluidic pressurization. This study facilitates the determination of optimal geometrical parameters for bellow-based actuators, allowing for effective biomimetic robot design optimization and performance prediction.

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Section: Discussionmentioning

confidence: 99%

Quasi-Static Modeling Framework for Soft Bellow-Based Biomimetic Actuators

Heung,

Lei,

Liang

et al. 2024

Biomimetics

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“…34 Multiobjective goals balancing bending angle and contact force have been targeted through integrated FEA and optimization. [35][36][37][38] Overall, these pioneering studies have established the utility of modeling and analysis techniques for improving soft actuator designs.…”

Section: Introductionmentioning

confidence: 99%

A structural optimization analysis of cable-driven soft manipulator

Khalil,

Habib,

Seadby

et al. 2024

International Journal of Advanced Robotic Systems

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Cable-driven soft robots hold significant potential for surgical and industrial applications, yet their performance and maneuverability can be further enhanced through design optimization. By optimizing the design, factors such as bending angles, manipulator deformation, and overall functionality can be directly influenced, leading to improved interaction with the environment and more accurate task performance. This article presents a physics-based design optimization approach for cable-driven soft robotic manipulators, aiming to enhance bending performance through structural design enhancements. Four design criteria, namely, cross-sectional shape, material, gap shape, and gap size, are considered in the optimization process. Given the inherent nonlinearity of soft materials, finite element modeling techniques are employed to analyze the effects of modifying each design parameter on displacement and bending angle. The manipulator’s design is evaluated using ABAQUS/CAE, and an analysis of variance test is conducted to identify significant performance differences among the design parameters. The results reveal that material variation has the most substantial impact, followed by gap shape and gap size. Based on subsequent parameter optimization, Dragon Skin 10 is determined to be the optimal material for bending motion, while a trapezoidal gap shape is preferred. In addition, a genetic algorithm is utilized to select a maximum gap size of 8.87 mm. These findings provide valuable insights into key design principles for cable-driven soft manipulators, aiming to enhance flexibility and reduce actuation forces. By establishing a fundamental understanding of the relationship between morphology and motion capability, this methodology demonstrates an effective simulation-driven optimization approach that incorporates the nonlinear elastic behavior of materials to improve performance. Overall, this work establishes a framework for optimizing cable-driven architectures to suit various applications in the field of soft robotics.

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“…One of the novelties of this approach was the use of an improved Newton–Euler iterative method, which comprehensively considered the influence of inertial force, elastic force, damping force, and combined bending and torsion moments of the soft arm. EI-Agroudy and colleagues [ 4 ] presented a new framework to develop a soft robotic body, including details on the design, fabrication, finite element modeling, and experimental validation of a soft pneumatic robotic finger, enabling a fast approach to achieve the desired soft body. Broyko et al [ 5 ] introduced a multi-physics simulator that could simulate the most significant physical processes in ionic polymer–metal composites (IPMC).…”

mentioning

confidence: 99%