A thin-walled vacuum actuator (ThinVAc) and the development of multi-filament actuators for soft robotic applications

Kulasekera, Asitha L.; Arumathanthri, Rancimal B.; Chathuranga, Damith Suresh; Gopura, R. A. R. C.; Lalitharatne, Thilina Dulantha

doi:10.1016/j.sna.2021.113088

Cited by 12 publications

(13 citation statements)

References 22 publications

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“…Recent advances harnessing 1D materials vary widely, but works include the use of SMA coils or twisted polymer fibers. [489,525,[553][554][555][556] A particular work of interest pertains to the demonstration of a biomimetic canine tongue that can move both solids and liquids. [515] Figure 4 presents the variety of compliance methods employed by the soft robotics field.…”

Section: Compliance Methodologiesmentioning

confidence: 99%

A Data‐Driven Review of Soft Robotics

Jumet

Bell

Sánchez

et al. 2021

Advanced Intelligent Systems

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The past decade of soft robotics has delivered impactful and promising contributions to society and has seen exponentially increasing interest from scientists and engineers. This interest has resulted in growth of the number of researchers participating in the field and the quantity of their resulting contributions, stressing the community's ability to comprehend and build upon the literature. In this work, a data‐driven review is presented that addresses the recent surge of research by providing a quantitative snapshot of the field. Relevant data are catalogued with three levels of analysis. First, publication‐level analysis explores high‐level trends in the field and bibliometric relationships across the more detailed analyses. Second, device‐level analysis examines the tethering of robots and the incorporation of component types (actuators, sensors, controllers, power sources) into each robot. Finally, component‐level analysis investigates the compliances, material compositions, and “function media” (energetic methods by which components operate) of each soft robotic component in the analyzed literature. The reported data indicate a significant reliance on elastomeric materials, electrical and fluidic media, and physical tethering; meanwhile, controllers and power sources remain underdeveloped relative to actuators and sensors. These gaps in the surveyed literature are elaborated upon, and promising future directions for the field of soft robotics are identified.

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Section: Compliance Methodologiesmentioning

confidence: 99%

A Data‐Driven Review of Soft Robotics

Jumet

Bell

Sánchez

et al. 2021

Advanced Intelligent Systems

View full text Add to dashboard Cite

show abstract

“…The level of CCM depends on several parameters: it is proportional to the speed [70,71], it is variable for the degree of inertia [72], to the muscle group under consideration [73] and maybe partially dependent on sex and age [74][75][76]. Other factors can also be taken into account to explain these variations [25,53,[77][78][79] in the literature, but it is always calculated as a ratio between agonist and antagonist muscles and as a function of the walking sequence (double support, unipodal phase, etc.). From a scientific point of view, TVC has been defined in different ways to facilitate its interpretation.…”

Section: Movementmentioning

confidence: 99%

“…Hence, although the skin enveloping the skeletal structure has no morphological features (i.e., bellow or pleated skin), the linear movement is mainly due to the compressible skeletons. More in detail, the vacuum pressure enables the volume inside the film pouch to be evacuated, and it induces a controlled collapse in the direction guided by the skeletal structure [78]. With these findings in mind, Li et al introduced design principles that enable linear movements and presented Fluid-driven Origami-inspired Artificial Muscles (FOAMs) by exploiting symmetrical zigzag geometry [57].…”

Section: Origami-skeleton Structurementioning

confidence: 99%

“…Hence, the overall weight was reduced down to 2 g, and a high-force-weight ratio (230) was obtained [81]. More recently, they proposed a Thin-walled Vacuum Actuator (ThinVAc) and developed a multi-filament actuator, allowing simple scaling of actuation force while retaining the ability to actuator during deformation [78]. Finally, the weight of the ThinVac was only 1 g and capable of 60% linear contraction and blocking force of 5.2 N upon null load.…”

Section: Origami-skeleton Structurementioning

confidence: 99%

“…Unlike previous examples, after patterning by laser cutting, the open-cell foams (Polyurethane) were integrated with Plexiglass©rigid rings, and with a silicone (Dragon Skin™ 30) skin having a bellow structure, previously molded by casting. Another example belongs to a completely hybrid concept compromising rigid and soft materials [78,81]. In the V-PAM fabrication, a helical spring core was combined with a pouch, manually assembled from polyethylene (PE) film or TPU fabric.…”

Section: Hybrid and Alternative Manufacturingmentioning

confidence: 99%

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