Bio-inspired origamic pouch motors with a high contraction ratio and enhanced force output

Li, Shanjun; Lin, Jiahao; Kang, Hanwen; Cheng, Yunjiang; Chen, Yaohui

doi:10.1016/j.robot.2021.103983

Cited by 10 publications

(2 citation statements)

References 31 publications

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“…When using the pouch actuator, its motion design primarily relies on its contraction behavior induced by its structure. The achievement of various motions using external attachments (15,16) and an origami structure (17,18) have been explored. Arfaee et al recently applied a styrene-ethylene-butylene-styrene (SEBS) block copolymer film with high stretchability and thermoplasticity (19) to the pouch actuator.…”

Section: Introductionmentioning

confidence: 99%

Strain Sensorization of a Bladder of Expanding Pouch Actuator Using Liquid Metal

Yamamoto,

Ishizuka,

Hiraki

et al. 2024

Sensors and Materials

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Soft pneumatic pouch actuators with simple structures and fabrication processes are being studied for application in soft robots. In addition, some research groups have tried to add sensors to the pouch actuators to estimate their states. In this study, we propose to embed a soft strain sensor made of liquid metal in the bladder of a pouch actuator made of stretchable styreneethylene-butadiene-styrene (SEBS) film, which can expand to a large extent under pressure to enable shape estimation. A method of processing the bladder of the pouch actuator to convert it into a sensor has yet to be proposed. We developed a fabrication process to form the small strain sensor in the SEBS film and evaluated the strain sensor's stretch characteristics. Finally, we confirmed that the deformation of a bending pouch actuator caused by pneumatic pressure is expressed in the electrical resistance of the embedded strain sensor.

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Section: Introductionmentioning

confidence: 99%

Strain Sensorization of a Bladder of Expanding Pouch Actuator Using Liquid Metal

Yamamoto,

Ishizuka,

Hiraki

et al. 2024

Sensors and Materials

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“…Currently, the origami-based structure provides grip stability and dexterity, an improved lifting force of delicate objects, and soft bladder pressure-sensing, which is a popular topic [9]. Soft structures require soft materials such as silicone [4][5][6][7], latex (e.g., a balloon [9][10][11]), or polyurethane films [12]. Thermoplastic polyurethane (TPU), which can be 3D printed, is an excellent option [13,14].…”

Section: Introductionmentioning

confidence: 99%

A Comparative Study of Different Fingertips on the Object Pulling Forces in Robotic Gripper Jaws

Białek

Rybarczyk

2023

Applied Sciences

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This paper presents a comparative study of the use of different fingertips in robotic gripper jaws with respect to measuring the pulling force of selected shaped objects from their grasp. The authors built a dedicated test stand and provided methodology to evaluate it. The authors’ innovative approach was to design accessory-controlled jaws for the base of the Robotiq 2F-140 gripper. For the study, rigid structures—flexible soft cushions filled with air and magnetorheological fluid (MRF)—were developed for the jaw. In this way, comparable measurement results were obtained in terms of the structure of the gripper set-up. The secondary purpose of the study was to demonstrate the potential of the soft cushions that are adaptable to the shape of a gripped object. As a result, an adaptive structure was obtained that allows object pulling forces that are comparable to rigid fingertips. In doing so, this does not damage the surface of any of the interacting components. The cushions were made of thermoplastic polyurethane (TPU) formed using 3D printing technology. The results obtained during the implementation of this research may be beneficial for comparing gripper capabilities; thus, they can contribute to advances in smart devices and many industrial fields, including robotics and bioengineering.

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Design and Scalable Fast Fabrication of Biaxial Fabric Pouch Motors for Soft Robotic Artificial Muscle Applications

Yilmaz,

Ozlem,

Celebi

et al. 2024

Advanced Intelligent Systems

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Soft pouch motors, engineered to mimic the natural movements of skeletal muscles, play a crucial role in advancing robotics and exoskeleton development. However, the fabrication techniques often involve multistage processes; they lack soft sensing capabilities and are sensitive to cutting and damage. This work introduces a new textile‐based pouch motors with the capacity for biaxial actuation and capacitive sensory functions, achieved through the application of computerized knitting technology using ultrahigh molecular weight polyethylene yarn (Spectra) and conductive silver yarns. This method enables the rapid and scalable mass fabrication of robust pouch motors. The resulting pouch motors exhibit maximum lifting capacity of 10 kg, maximum contraction of 53.3% along the y‐axis, and transverse extension of 41.18% along the x‐axis at 50 kPa pressure. Finite element analysis closely matches the experimental data. The capacitance signals in relation to contraction motion are well suited for detecting air pressure levels and hold promise for applications requiring robotic control. Notably, it effectively elevates an ankle joint simulator at a 20° angle, highlighting its potential for applications such assisting individuals with foot drop. This study presents a practical demonstration of the soft ankle exosuit designed to provide lifting support for individuals facing this mobility challenge.

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Bio-inspired origamic pouch motors with a high contraction ratio and enhanced force output

Cited by 10 publications

References 31 publications

Strain Sensorization of a Bladder of Expanding Pouch Actuator Using Liquid Metal

Strain Sensorization of a Bladder of Expanding Pouch Actuator Using Liquid Metal

A Comparative Study of Different Fingertips on the Object Pulling Forces in Robotic Gripper Jaws

Design and Scalable Fast Fabrication of Biaxial Fabric Pouch Motors for Soft Robotic Artificial Muscle Applications

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