A Compact McKibben Muscle Based Bending Actuator for Close-to-Body Application in Assistive Wearable Robots

Tschiersky, Martin; Hekman, Edsko E.G.; Brouwer, Dannis Michel; Herder, Just L.; Suzumori, Koichi

doi:10.1109/lra.2020.2975732

Cited by 36 publications

(21 citation statements)

References 28 publications

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“…[ 1 ] One major challenge is the establishment of a simple design and fabrication method for soft actuator technologies. Currently, there are electromechanical types of a soft actuators including soft pneumatic actuators, [ 2–4 ] stretchable pump, [ 5,6 ] and dielectric elastomer actuators (DEAs). [ 7–14 ] Soft pneumatic actuators can generate high‐pressure actuation.…”

Section: Introductionmentioning

confidence: 99%

“…However, soft pneumatic actuators require additional equipment such as air hoses and a compressor that may lead to a complex design for actuators. [ 2–4 ] The stretchable pump utilizes electrohydrodynamics (EHD) to generate pressure difference between the fluid inside the device. Recently, rapid fabrication methods for EHD pump has been established using do‐it‐yourself‐like method (DIY‐like).…”

Section: Introductionmentioning

confidence: 99%

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Simple and Reliable Fabrication Method for Polydimethylsiloxane Dielectric Elastomer Actuators Using Carbon Nanotube Powder Electrodes

et al. 2021

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Dielectric elastomer actuators (DEAs) are energy efficient, compact, and operate silently. DEAs consist of an elastomer membrane sandwiched between two stretchable electrodes. Optimizing the quality of both the elastomer and the stretchable electrodes is essential to improve the DEAs performance. Herein, novel strategies are reported to achieve fast, reliable, and low‐cost fabrication of DEAs. The strategies utilize a soft brush to directly pattern carbon nanotube (CNT) powder on the elastomer membrane and tune the mechanical and surface‐adhesiveness characteristics of a polydimethylsiloxane (PDMS) membrane by altering the mixing ratio of the curing agent and base polymer. A uniaxial engineering tensile test on PDMS indicates that a softer material is formed when less curing agent is used. The softer PDMS has a sticky surface, which allows the CNT powder to be physically bound to the surface. Field‐emission scanning electron microscopy (FE‐SEM) images prove that the strong CNT network is formed on the surface of the elastomer. The electromechanical investigation also indicates that the electrical conductivity is improved for a stickier PDMS surface. The optimal performance of PDMS 30‐1 in static and cyclic DEA tests shows that the brushing of CNT combined with soft and sticky elastomer membranes can increase the DEA performance.

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Section: Introductionmentioning

confidence: 99%

Section: Introductionmentioning

confidence: 99%

Simple and Reliable Fabrication Method for Polydimethylsiloxane Dielectric Elastomer Actuators Using Carbon Nanotube Powder Electrodes

et al. 2021

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“…The amount and fixation of these points are highly dependent on the mechanisms chosen. In cable-driven systems, for example, it is crucial to maintain the tension of the cable; whereas pneumatic-based systems should avoid variations of the conduits' section [37], [38]. Fulfilling such requirements is a challenging task in designing soft exoskeletons as they must deal with textile-related events like slippery of the fabrics, discrete perturbations from creases and seams, bad-fitting to the user anatomy and muscle volume changes during motion.…”

Section: Introductionmentioning

confidence: 99%

A Cable-Driven Exosuit for Upper Limb Flexion Based on Fibres Compliance

et al. 2020

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Flexible soft exoskeletons, so-called exosuits, are robotic devices that interact with their users to assist or enhance muscle performance. Their lightweight design and lack of rigid parts allow assisting the user's natural motion without any constraints. They are thereby valuable in carrying out daily labour tasks and performing active stances of rehabilitation. Nonetheless, the usage of these devices in long-term applications demands anatomically adaptive designs and mechanisms to tackle textile artefacts and discrepancies in the human constitution. The soft exoskeleton described in this article is a textile-wearable design that assists shoulder and elbow flexion. The cable-driven actuation is embedded in a jacket by using several textiles and deformable parts. The inconveniences of using textile such as slipping, dampening, and pressure sores are tackled by combining textile layers with force-compliant sewing. The design also includes pieces for cable guidance, anchoring and support. These parts employ different tailoring methods so as to ease fabrication, wearing and cleaning. The motors and electronics, whose design is compatible with textiles too, are placed in a backpack. This configuration reduces forces from loads in motion and weight on the arm. Finally, the last part of the document discusses the preliminary results that have been obtained from four subjects who have worn the device.

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“…Wearable and stretchable electronics have rapidly developed for use in wearable devices such as bioelectronics, and health monitoring sensors, also it can be used as stretchable devices like batteries, photovoltaics, displays, and electronic skins that can enhance human safety and healthcare services. [ 1–7 ] To utilize wearable, stretchable electronics on the human body or on the skin, it is necessary to develop a highly stretchable conductor that maintains its conductivity while the device is being stretched because most of the human skin undergoes stretching. [ 8,9 ] Therefore, developing high‐performance stretchable electrode materials through a corresponding fabrication process is critical to realize stretchable and wearable electronics.…”

Section: Introductionmentioning

confidence: 99%

Highly Stretchable, Conductive Polymer Electrodes with a Mixed AgPdCu and PTFE Network Interlayer for Stretchable Electronics

Yoon

Sim

Cho

et al. 2020

Adv Materials Inter

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A highly stretchable, conductive polytetrafluoroethylene (PTFE) electrode consisting of a mixed AgPdCu (APC) and PTFE network interlayer on a polyurethane substrate is fabricated at room temperature. The PTFE/APC‐PTFE/PTFE multilayer deposited through continuous sputtering of carbon nanotubes of the mixed PTFE and APC targets, and the resulting material exhibit a sheet resistance of 33.6 ± 6.17 Ohm per square and a stretchability of 40%. The metallic APC‐PTFE network interlayer provides a conducting path for the PTFE/APC‐PTFE/PTFE multilayer, and it maintains a reversible conductivity until the electrode has been stretched up to 40%. In addition, the sputtered PTFE/APC‐PTFE/PTFE multilayer shows semi‐transparency about 47% in the visible wavelength region. The multilayered material shows a minimal change in resistance after 10 000 cycles of repeated stretching under a constant 20% strain. In addition, the stretchable PTFE/APC‐PTFE/PTFE electrode is confirmed to be resilient outer/inner bending, folding, rolling, and twisting tests. Through successful operation of stretchable interconnectors, stretchable film heaters, and stretchable electroluminescent devices, it is confirmed that sputtered PTFE/APC‐PTFE/PTFE films can be promising stretchable electrodes for next‐generation stretchable electronics.

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A Compact McKibben Muscle Based Bending Actuator for Close-to-Body Application in Assistive Wearable Robots

Abstract: A compact McKibben muscle based bending actuator for close-to-body application in assistive wearable robots Tschiersky, Martin; Hekman, Edsko E.G.; Brouwer, Dannis M.; Herder, Just L.; Suzumori, Koichi

Cited by 36 publications

References 28 publications

Simple and Reliable Fabrication Method for Polydimethylsiloxane Dielectric Elastomer Actuators Using Carbon Nanotube Powder Electrodes

Simple and Reliable Fabrication Method for Polydimethylsiloxane Dielectric Elastomer Actuators Using Carbon Nanotube Powder Electrodes

A Cable-Driven Exosuit for Upper Limb Flexion Based on Fibres Compliance

Highly Stretchable, Conductive Polymer Electrodes with a Mixed AgPdCu and PTFE Network Interlayer for Stretchable Electronics

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