A New Soft RCC Device with Pneumatic Regulation

Bottero, Stefano; Muscolo, Giovanni Gerardo; Ferraresi, Carlo

doi:10.3390/robotics9040098

Cited by 9 publications

(5 citation statements)

References 19 publications

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“…Cable-driven systems [13,14] or membranes [15][16][17] are examples of soft physical connections which can be used as sensitive elements. Cable-driven mechanisms are used in different contexts, such as rehabilitation [18], the design of exoskeletons [19], industry [20], or in mechanical designs for general applications [21][22][23].…”

Section: Introductionmentioning

confidence: 99%

A New Cable-Driven Model for Under-Actuated Force–Torque Sensitive Mechanisms

Muscolo

Fiorini

2023

Machines

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Force–torque sensors are used in many and different domains (i.e., space, medicine, biology, etc.). Design solutions of force–torque sensors can be conceived by using many types of connections or components; however, there are only a few sensors designed using cable-driven systems. This could be related to many reasons, one of which being that cables are able only to pull and not push. In this paper, a new cable-driven model for under-actuated force–torque sensing mechanisms is proposed, simulated, and tested, underlining the novelty of using cables for force–torque sensing. Analytical formulations, simulations, and physical implementations are presented in this paper. Results confirm that the new proposed model can be used for force–torque sensing mechanisms in micro- and macro- applications where under-actuation is a fundamental requirement, as in robotic surgery. The proposed model and mechanism can be used in the design of sensors and actuators. The innovative model is validated with two different test benches, opening new challenges in the design and development of under-actuated force–torque transducers.

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Section: Introductionmentioning

confidence: 99%

A New Cable-Driven Model for Under-Actuated Force–Torque Sensitive Mechanisms

Muscolo

Fiorini

2023

Machines

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“…In order to provide a synthetic overview of the activities produced by Italian re Starting from the PATuCCo actuator, previously described in Section 2.3, Bottero et al [81] developed a method to identify and modify the RCC position of the device, depending on supply pressure and stroke. The study was conducted by means of a FEM model, comprising the external aluminum cylindrical wall and the rolling diaphragm, the latter modeled using the Mooney-Rivlin model.…”

Section: Discussionmentioning

confidence: 99%

The Research on Soft Pneumatic Actuators in Italy: Design Solutions and Applications

2022

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Interest in soft actuators has increased enormously in the last 10 years. Thanks to their compliance and flexibility, they are suitable to be employed to actuate devices that must safely interact with humans or delicate objects or to actuate bio-inspired robots able to move in hostile environments. This paper reviews the research on soft pneumatic actuators conducted in Italy, focusing on mechanical design, analytical modeling, and possible application. A classification based on the geometry is proposed, since a wide set of architectures and manufacturing solutions are available. This aspect is confirmed by the extent of scenarios in which researchers take advantage of such systems’ improved flexibility and functionality. Several applications regarding bio-robotics, bioengineering, wearable devices, and more are presented and discussed.

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“…To simulate an incompressible (rubber-like) material, the Mooney-Rivlin hyperelastic model is used. The Mooney-Rivlin model is defined by the following equation: 38,40–42…”

Section: Air Cell: Design and Fem Analysismentioning

confidence: 99%

“…where ψ is the strain energy function, c 1 and c 2 are constants, I 1 and I 2 are respectively the first and the second invariant. 38,40–42 All simulations were performed with the following parameters: c 1 = 0 . 25 MPa , c 2 = 0 MPa , density = 1000 kg / m 3 . 40 Recording the maximum equivalent stress and the vertical deformation, the aim of the design optimisation of the bubble air-cell is to reduce the Von Mises stress and maximise the vertical deformation of the bubble air-cell, which provides a better and more effective control.…”

Section: Air Cell: Design and Fem Analysismentioning

confidence: 99%

Modelling, design and control of a new seat-cushion for pressure ulcers prevention

Mannella

Bellusci

Graziani

et al. 2022

Proc Inst Mech Eng H

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Pressure ulcers are a frequent complication in patients having limited activity and mobility (e.g., elderly people, spinal cord injury patients, people with disabilities, etc.). The aim of this work is the conceptual design, modelling and control of a new seat cushion for pressure ulcers prevention. The whole system (constituted by the seat cushion equipped with a real-time pressure mapping with closed-loop control) is designed to identify the critical points on the human skin, before pressure ulcers creation, and to be able to distribute the contact pressure between the human and cushion avoiding wound creation. The seat cushion is constituted by soft air-cells actuated by air flow. To define the shape and size of the soft air-cells, finite element simulations are carried out, analysing the internal volume reduction with external loads application to reproduce the variable stiffness. The data obtained by finite element analysis are used to simulate inflation and deflation of the soft bubble air-cells. Finally, the control systems of a single air-cell and of the whole cushion are designed and simulated. The novelty of our work consists in the conception of a seat cushion able to recognise higher and lower risk zones of pressure ulcer generation on the human skin and to provide compensation automatically. This work can therefore be considered in line with the sustainable development goals recently launched by the EU Commission.

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A New Soft RCC Device with Pneumatic Regulation

Cited by 9 publications

References 19 publications

A New Cable-Driven Model for Under-Actuated Force–Torque Sensitive Mechanisms

A New Cable-Driven Model for Under-Actuated Force–Torque Sensitive Mechanisms

The Research on Soft Pneumatic Actuators in Italy: Design Solutions and Applications

Modelling, design and control of a new seat-cushion for pressure ulcers prevention

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