A 3D Printable Origami Vacuum Pneumatic Artificial Muscle with Fast and Powerful Motion

Zhang, Zhuang; Fan, Weicheng; Chen, Genliang; Luo, Jizhuang; Lu, Qiujie; Wang, Hao

doi:10.1109/robosoft51838.2021.9479194

Cited by 27 publications

(19 citation statements)

References 24 publications

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“…These multi-material interfaces are valuable in many areas, such as biomedical, soft electronics, optoelectronics, aerospace, and robotics applications [ 3 , 4 ]. For example, multi-material 3D printing is used for bone and soft-tissue grafts [ 25 , 26 ], soft actuators [ 27 ], medical prostheses [ 28 ], soft robotics [ 28 , 29 ], artificial muscles [ 30 ], electronics [ 28 , 29 ], and even 3D-printed multi-material wheels [ 24 ].…”

Section: Discussionmentioning

confidence: 99%

The Mechanics of Bioinspired Stiff-to-Compliant Multi-Material 3D-Printed Interfaces

2022

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Complex interfaces that involve a combination of stiff and compliant materials are widely prevalent in nature. This combination creates a superior assemblage with strength and toughness. When combining two different materials with large stiffness variations, an interfacial stress concentration is created, decreasing the structural integrity and making the structure more prone to failure. However, nature frequently combines two dissimilar materials with different properties. Additive manufacturing (AM) and 3D printing have revolutionized our engineering capabilities concerning the combination of stiff and compliant materials. The emergence of multi-material 3D-printing technologies has allowed the design of complex interfaces with combined strength and toughness, which is often challenging to achieve in homogeneous materials. Herein, we combined commercial 3D-printed stiff (PETG) and compliant (TPU) polymers using simple and bioinspired interfaces using a fused deposition modeling (FDM) printer and characterized the mechanical behaviors of the interfaces. Furthermore, we examined how the different structural parameters, such as the printing resolution (RES) and horizontal overlap distance (HOD), affect the mechanical properties. We found that the bioinspired interfaces significantly increased the strain, toughness, and tensile modulus compared with the simple interface. Furthermore, the more refined printing resolution elevated the yield stress, while the increased overlap distance mostly elevated the strain and toughness. Additionally, 3D printing allows the fabrication of other complex designs in the stiff and compliant material interface, allowing various tailor-designed and bioinspired interfaces. The importance of these bioinspired interfaces can be manifested in the biomedical and robotic fields and through interface combinations.

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Section: Discussionmentioning

confidence: 99%

The Mechanics of Bioinspired Stiff-to-Compliant Multi-Material 3D-Printed Interfaces

2022

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“…Gait patterns in people with a neurologic impairment are characterized by abnormal total voluntary contraction (TVC). This is reflected in particular by problems in postural stability [54], since it is important for providing joint stability [54][55][56][57][58], adequate movement precision and energy efficiency [59], as well as to adapt to environmental requirements [60]. From a neurological point of view, CCM is particularly important for rehabilitation, in robotics approaches to rehabilitation, it is even considered as a distinct element of motor control in many theoretical models of motor control [61][62][63][64][65].…”

Section: Movementmentioning

confidence: 99%

“…For the multiple chambers, such as origami stories, the even number with reversed diagonal creases can counterbalance the rotational motions that occur at each chamber. This approach enabled the development of a 3D-printed origami V-PAM capable of pure axial movement [58], as shown in Figure 3f. Due to the rigid inner support rings interfaced at each module, the radial contraction can be avoided, resulting in a high compression ratio of 62% with 3 kgf payload upon vacuum pressure.…”

Section: Kresling Patterned Unit Cellmentioning

confidence: 99%

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Rehabilitation of the Human Bone-Muscle System

2022

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“…The contraction ratio of this artificial muscle can be very large. Origami vacuum pneumatic prtificial muscle has an origami structure and can achieve a 62% shrinkage rate [19]. These artificial muscles rely on internal and external pressure differences to produce deformation and are suitable for applications where small forces are required.…”

Section: Introductionmentioning

confidence: 99%

Self-Sensing Pneumatic Artificial Muscle with Unilateral Expansion and High Contraction Ratio for Wearable Robotics

2022

Proceedings of WCSE 2022 Spring Event: 2022 9th International Conference on Industrial Engineering and Applications

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Pneumatic artificial muscles is widely used in robots and rehabilitation devices, but it is difficult to achieve both high contraction ratio and wearing comfort. In order to solve this problem, we propose a kind of pneumatic artificial muscle with unilateral expansion and high contraction ratio(UEPAM). The UEPAM is composed of a bending layer, several folding balloons, and 3D printed flatbeds, which can be fabricated simply by laser cutting and 3D printing. The static experimental results show that the maximum shrinkage of UEPAM can reach 69% under 15N load. The dynamic experimental results show that the artificial muscle has good position tracking ability for 0.5Hz sinusoidal signal with the maximum displacement error of 1.2 cm when closed-loop control is adopted. More importantly, due to the limitation of 3D printing rigid parts, UEPAM can only expand on one side during inflation, which makes it more suitable to be arranged in soft wearable devices without squeezing the wearer's skin. In addition, we integrate a resistive sensor based on bending measurement to sense shrinkage and displacement by measuring the bending degree of the actuator's bending layer. The experimental results show that the sensor has good accuracy and repeatability.

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A 3D Printable Origami Vacuum Pneumatic Artificial Muscle with Fast and Powerful Motion

Cited by 27 publications

References 24 publications

The Mechanics of Bioinspired Stiff-to-Compliant Multi-Material 3D-Printed Interfaces

The Mechanics of Bioinspired Stiff-to-Compliant Multi-Material 3D-Printed Interfaces

Rehabilitation of the Human Bone-Muscle System

Self-Sensing Pneumatic Artificial Muscle with Unilateral Expansion and High Contraction Ratio for Wearable Robotics

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