Design and Characterization of a 3D Printed Soft Pneumatic Actuator

Morales, Ditzia Susana Garcia; Ibrahim, Serhat; Cao, Benjamin-Hieu; Raatz, Annika

doi:10.1007/978-3-030-55061-5_55

Cited by 10 publications

(6 citation statements)

References 17 publications

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“…We presented the characterisation of the bending motion via computer vision. Likewise, the maximum bending angles are 123.9 • , 115 • and 28.91 • when a single channel is activated independently and when two or three channels are activated simultaneously, obtaining deformation values in the range of previously reported modules [19,[21][22][23][24][25]. Thus, the module exhibits excellent mobility.…”

Section: Discussionsupporting

confidence: 58%

“…However, when more motions are necessary, this method becomes unpractical due to the complexity of joining more than two actuators. Multiple motions soft actuators have been proposed [19][20][21][22][23][24] considering chambers or at least three independent channels, distributed homogeneously in the body, resulting in motions of elongation and multiple bending and performing deformations from 36 • to less than 160 • [19,[21][22][23][24][25][26] (depending on the angle measurement method). The motion variation depends on the method of measurement, manufacturing material and actuator geometry.…”

Section: Introductionmentioning

confidence: 99%

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Design and characterisation of a multi-DOF soft pneumatic module

Santacruz-Mondragon,

Sandoval-Castro,

Ibrahim

et al. 2023

Robotica

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Bending and elongation have been some of the most studied motions in soft actuators due to the variety of their applications. For that matter, multi-DOF actuators have been developed with the purpose to generate different movements in a single actuator, mainly bending. However, these actuators are still limited in mobility range, and some of them do not perform continuous curvatures. This paper presents the design, characterisation and implementations of a multi-DOF soft pneumatic module. The internal structure of the proposed module is composed of four channels, which generate bending in several directions. The finite element method analysis demonstrates that the actuator performs continuous curvatures for different pressure values. We present a repeatable and easy manufacturing process using the casting technique, considering the material Ecoflex 00-50; as well as the kinematic model of the actuator, taking into consideration two bending Degrees of Freedom (DOFs). Furthermore, we performed bending characterisation for all possible combinations of the four channels via computer vision, demonstrating a wide mobility range and performing continuous curvatures. Additionally, we evaluated the kinematic model with characterisation data, obtaining the angular and cartesian relationship between the pressure and continuous curvatures. On the other hand, the authors propose the design of a modular soft manipulator based on two multi-DOF modules. The kinematic model is reported. In addition, we implement a motion sequence in the manipulator to pick and place tasks.

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Section: Discussionsupporting

confidence: 58%

Section: Introductionmentioning

confidence: 99%

Design and characterisation of a multi-DOF soft pneumatic module

Santacruz-Mondragon,

Sandoval-Castro,

Ibrahim

et al. 2023

Robotica

Self Cite

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“…If there is a construction with high stiffness in the longitudinal side, one can set l a l 0 constant. This is the case for the 3D printed PneuNet actuator from Garcia et al (2020). While the chambers lengthen and shorten during the bending of the actuators, the central axis does not change in length.…”

Section: Parameter Of Actuator Modelmentioning

confidence: 84%

“…A decisive factor determining the movement of soft pneumatic actuators is their design. New actuator designs and mechanisms have been developed for this field of research [Runge and Raatz (2017), Galloway et al (2013) and Garcia et al (2020)]. The soft and flexible structures with mostly nonlinear material properties and hyperelasticity present a challenge for modeling, sensing and control.…”

Section: Introductionmentioning

confidence: 99%

Modeling and Reconstruction of State Variables for Low-Level Control of Soft Pneumatic Actuators

Ibrahim¹,

Krause²,

Olbrich³

et al. 2021

Front. Robot. AI

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To further advance closed-loop control for soft robotics, suitable sensor and modeling strategies have to be investigated. Although there are many flexible and soft sensors available, the integration into the actuator and the use in a control loop is still challenging. Therefore, a state-space model for closed-loop low-level control of a fiber-reinforced actuator using pressure and orientation measurement is investigated. To do so, the integration of an inertial measurement unit and geometric modeling of actuator is presented. The piecewise constant curvature approach is used to describe the actuator’s shape and deformation variables. For low-level control, the chamber’s lengths are reconstructed from bending angles with a geometrical model and the identified material characteristics. For parameter identification and model validation, data from a camera tracking system is analyzed. Then, a closed-loop control of pressure and chambers’ length of the actuator is investigated. It will be shown, that the reconstruction model is suitable for estimating the state variables of the actuator. In addition, the use of the inertial measurement unit will demonstrate a cost-effective and compact sensor for soft pneumatic actuators.

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“…A single chamber Pneu-Net could be fabricated using a fused deposition modeling (FDM) 3D printer with elastic filaments (Garcia Morales et al, 2020;Xavier et al, 2021). The typical Frontiers in Mechanical Engineering frontiersin.org structure of a conventional 3D-printed Pneu-Net includes a strainlimiting layer on the bottom layer under the SPA's chambers (see Figure 4A).…”

Section: Main Structure Of Dynamic Wrist-driven Hand Orthosis (D-wdo)mentioning

confidence: 99%

Dual-mode 3D printed dynamic wrist driven orthosis for hand therapy exercises

Risangtuni,

Suprijanto,

Nazaruddin

et al. 2023

Front. Mech. Eng.

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The primary objective of the Dual-mode Dynamic Wrist Driven Orthosis (D-WDO) is to facilitate wrist-hand therapy exercises for patients with varying levels of residual muscle function. This dual-mode D-WDO system comprises two main components: the orthosis structure and the soft pneumatic actuator (SPA). All system components were designed and produced using Computer Aided Design (CAD) software and the Fused Deposition Modeling (FDM) 3D printing technique. The D-WDO’s structure is constructed from PLA (Polylactic Acid), while the SPA is made from TPU (Thermoplastic Polyurethane) filament. The D-WDO can be operated in passive or active mode by attaching or detaching the SPA from the structure. This D-WDO system is particularly suitable for patients with a minimum MMT level between 2 and 3, as it provides assistance for wrist movement and supports repetitive wrist motion to enhance wrist muscle function. However, it is important to note that the operation and performance of the dual-mode D-WDO system may vary depending on the chosen system configuration. The active D-WDO’s performance demonstrates its ability to achieve the necessary wrist flexion angle for a functional wrist joint, especially in the context of daily activities.

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Design and Characterization of a 3D Printed Soft Pneumatic Actuator

Cited by 10 publications

References 17 publications

Design and characterisation of a multi-DOF soft pneumatic module

Design and characterisation of a multi-DOF soft pneumatic module

Modeling and Reconstruction of State Variables for Low-Level Control of Soft Pneumatic Actuators

Dual-mode 3D printed dynamic wrist driven orthosis for hand therapy exercises

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