3-D finite-element analysis of fiber-reinforced soft bending actuator for finger flexion

Nordin, Ili Najaa Aimi Mohd; Razif, Muhammad Rusydi Muhammad; Faudzi, Ahmad Athif Mohd; Natarajan, Elango; Iwata, Kazuya; Suzumori, Koichi

doi:10.1109/aim.2013.6584080

Cited by 26 publications

(9 citation statements)

References 10 publications

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“…Soft actuators are presently gaining popularity in many robots because of the advantages of high power-to-weight ratio, high compliance, flexible structure, strong reliability for human use and low cost for manufacturing the actuators [19]. McKibben actuator can generate high linearity in force [20] with low hysteresis and dead zone at low pressure.…”

Section: A Actuator Characteristicsmentioning

confidence: 99%

Long-Legged Hexapod Giacometti Robot Using Thin Soft McKibben Actuator

Faudzi

Endo

Kurumaya

et al. 2018

IEEE Robot. Autom. Lett.

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This letter introduces a lightweight hexapod robot, Giacometti robot, made with long and narrow legs following the Alberto Giacometti's sculpture conception. The goal is achieved by, first, using multiple links with thin and soft McKibben actuators, and second, choosing a leg design which is narrow in comparison to its body's length and height, unlike conventional robot design. By such design characteristic, the leg will exhibit elastic deformations due to the low stiffness property of the thin link structure. Then, we model the leg structure and conduct the deflection analysis to confirm the capability of the leg to perform walking motion. The high force to weight ratio characteristics of the actuator provided the ability to drive the system, as shown by a static model and further validated experimentally. To compensate for the high elastic structural flexibility of the legs, two walking gaits namely customized Wave gait and Giacometti gait were introduced. The robot could walk successfully with both gaits at maximum speed of 0.005 and 0.05 m/s, respectively. It is envisaged that the lightweight Giacometti robot design can be very useful in legged robotic exploration.

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Section: A Actuator Characteristicsmentioning

confidence: 99%

Long-Legged Hexapod Giacometti Robot Using Thin Soft McKibben Actuator

Faudzi

Endo

Kurumaya

et al. 2018

IEEE Robot. Autom. Lett.

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“…The soft actuator technology is made from elastic material such as rubber and it is categorized into two types which are fiber reinforced and fiberless reinforced [13,14]. It was first initiated by HF Schulte in 1960s by proposing McKibben muscle [15].…”

Section: Introductionmentioning

confidence: 99%

Two-chambers soft actuator bending and rotational properties for underwater application

Razif

Faudzi

Nordin

et al. 2019

IJEECS

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<span>This paper presents a study on bending and rotational properties of two-chambers soft actuator for underwater application. Previous study demonstrated the actuator characteristics required to optimize the bending performance and its potential to perform underwater because of the actuator material. However, there is less study of the actuator performance underwater as well as how the actuator tips rotating during actuator bending motion. In this paper, three tests have been proposed which are comparisons of bending angle simulation and experiment in air environment, bending angle performance in air and underwater environment as well as rotational angle of actuator tip in air environment. The bending angle of soft actuator is measured based on displacement in horizontal and vertical axis and for rotational angle, gyro sensor has been used. Based on the analysis, it is proven that the fabricated soft actuator performs almost similar trend to the simulation. It is also demonstrated that the actuator performs almost double bending motion underwater environment compared to in air environment at the same pressure, and the actuator is able to rotate 90º in air environment with the supplied pressure 52 kPa.</span>

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“…Natarajan, et al [31] designed a soft finger that can bend in various ways by controlling the form of the coverage sleeve. Wang, et al [32], Nordin, et al [33] and Faudzi, et al [34] developed a bending actuator by using different braided angles.…”

Section: Introductionmentioning

confidence: 99%

Novel Design and Position Control Strategy of a Soft Robot Arm

et al. 2018

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This article presents a novel design of a continuum arm, which has the ability to extend and bend efficiently. Numerous designs and experiments have been done to different dimensions on both types of McKibben pneumatic muscle actuators (PMA) in order to study their performances. The contraction and extension behaviour have been illustrated with single contractor actuators and single extensor actuators, respectively. The tensile force for the contractor actuator and the compressive force for the extensor PMA are thoroughly explained and compared. Furthermore, the bending behaviour has been explained for a single extensor PMA, multi extensor actuators and multi contractor actuators. A two-section continuum arm has been implemented from both types of actuators to achieve multiple operations. Then, a novel construction is proposed to achieve efficient bending behaviour of a single contraction PMA. This novel design of a bending-actuator has been used to modify the presented continuum arm. Two different position control strategies are presented, arising from the results of the modified soft robot arm experiment. A cascaded position control is applied to control the position of the end effector of the soft arm at no load by efficiently controlling the pressure of all the actuators in the continuum arm. A new algorithm is then proposed by distributing the x, y and z-axis to the actuators and applying an effective closed-loop position control to the proposed arm at different load conditions.

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3-D finite-element analysis of fiber-reinforced soft bending actuator for finger flexion

Cited by 26 publications

References 10 publications

Long-Legged Hexapod Giacometti Robot Using Thin Soft McKibben Actuator

Long-Legged Hexapod Giacometti Robot Using Thin Soft McKibben Actuator

Two-chambers soft actuator bending and rotational properties for underwater application

Novel Design and Position Control Strategy of a Soft Robot Arm

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