A soft exoskeleton for hand assistive and rehabilitation application using pneumatic actuators with variable stiffness

Yap, Hui-Kim; Lim, Jeong Hoon; Nasrallah, Fatima A.; Goh, James Cho Hong; Yeow, Chen-Hua

doi:10.1109/icra.2015.7139889

Cited by 210 publications

(138 citation statements)

References 15 publications

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“…Robotics 2017, 6, 34 2 of 10 are prone to hysteresis after multiple cycles of tension and relaxation, giving rise to compliance issues [7,[17][18][19]. Thus, an alternate mean of utilizing pneumatic energy to drive such robots is required if size, speed, actuation and durability are to be addressed.…”

Section: Design Of Air-driven Robotmentioning

confidence: 99%

“…These pneumatic-actuated soft robots generally have customized and expandable internal air channels that results in overall locomotion when air is pumped in [7,14]. However, there are several limitations with these pneumatic actuators.…”

Section: Introductionmentioning

confidence: 99%

“…Pneumatic-actuated soft robotics have been a widely studied field recently, and their applications range from medical devices [6][7][8][9], to biomimetic robots [10,11] and artificial muscles [12,13]. These pneumatic-actuated soft robots generally have customized and expandable internal air channels that results in overall locomotion when air is pumped in [7,14].…”

Section: Introductionmentioning

confidence: 99%

“…Additionally, the channel dimensions and geometry are determined by the resultant stiffness of the materials used in these actuators [7], therefore resulting in bulky sizes that they presently have [16]. Thirdly, most of these soft actuators are made of hyper-elastic materials that are prone to hysteresis after multiple cycles of tension and relaxation, giving rise to compliance issues [7,[17][18][19]. Thus, an alternate mean of utilizing pneumatic energy to drive such robots is required if size, speed, actuation and durability are to be addressed.…”

Section: Introductionmentioning

confidence: 99%

“…Secondly, due to the walls of the pneumatic actuators experiencing tensile stress and elastic deformation, there needs to be a minimum wall thickness to ensure durability. Additionally, the channel dimensions and geometry are determined by the resultant stiffness of the materials used in these actuators [7], therefore resulting in bulky sizes that they presently have [16]. Thirdly, most of these soft actuators are made of hyper-elastic materials that are prone to hysteresis after multiple cycles of tension and relaxation, giving rise to compliance issues [7,[17][18][19].…”

Section: Introductionmentioning

confidence: 99%

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Propulsion-Based Soft Robotic Actuation

Chua

Yeow

2017

Robotics

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Abstract:The use of air propulsion to drive limb motion in soft robotics has been a largely untapped field even though the technology has been around since the 1700s. Air propulsion can generate greater degrees of motion in limb actuators compared to widely-experimented pneumatic actuators operating on expandable air channels, which are limited by air pressure input, minimum size and cyclic fatigue. To demonstrate the application of air propulsion in soft robotics motion, we developed a 3D-printed, tri-pedal, soft, air-driven robot that can perform biomimetic motions such as flexion and extension of limbs, crawling, rotation, grasping, kicking and picking of objects. To accomplish air-propelled actuation, milli-scale channels are incorporated throughout each limb that guides the pressurized air inflow to outlets of different directions. A Finite Element Model (FEM) approach to simulate the bending response of the limb due to varying pressure is proposed and evaluated. This study introduces the potential of using air propulsion as an alternate form of soft body actuation for longer cyclic lifespan and increased maximum air pressure input.

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Section: Design Of Air-driven Robotmentioning

confidence: 99%

Section: Introductionmentioning

confidence: 99%

Section: Introductionmentioning

confidence: 99%

Section: Introductionmentioning

confidence: 99%

Section: Introductionmentioning

confidence: 99%

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Propulsion-Based Soft Robotic Actuation

Chua

Yeow

2017

Robotics

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The Emergence of Cyber‐Physical System in the Context of Self‐Powered Soft Robotics

Darwin,

Fantin Irudaya Raj

2023

Self‐Powered Cyber Physical Systems

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Soft Robotics: Review of Fluid‐Driven Intrinsically Soft Devices; Manufacturing, Sensing, Control, and Applications in Human‐Robot Interaction

et al. 2017

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The emerging field of soft robotics makes use of many classes of materials including metals, low glass transition temperature (Tg) plastics, and high Tg elastomers. Dependent on the specific design, all of these materials may result in extrinsically soft robots. Organic elastomers, however, have elastic moduli ranging from tens of megapascals down to kilopascals; robots composed of such materials are intrinsically soft À they are always compliant independent of their shape. This class of soft machines has been used to reduce control complexity and manufacturing cost of robots, while enabling sophisticated and novel functionalities often in direct contact with humans. This review focuses on a particular type of intrinsically soft, elastomeric robot À those powered via fluidic pressurization.

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A soft exoskeleton for hand assistive and rehabilitation application using pneumatic actuators with variable stiffness

Cited by 210 publications

References 15 publications

Propulsion-Based Soft Robotic Actuation

Propulsion-Based Soft Robotic Actuation

The Emergence of Cyber‐Physical System in the Context of Self‐Powered Soft Robotics

Soft Robotics: Review of Fluid‐Driven Intrinsically Soft Devices; Manufacturing, Sensing, Control, and Applications in Human‐Robot Interaction

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