Design and implementation of variable inclined air pillow soft pneumatic actuator suitable for bioimpedance applications

Saleh, Mahmood Abdallah; Soliman, MennaAllah; Mousa, Mostafa A.; Elsamanty, Mahmoud; Radwan, Ahmed G.

doi:10.1016/j.sna.2020.112272

Cited by 26 publications

(19 citation statements)

References 37 publications

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“…So, uniaxial tests have been performed to a printed TPU material on a standard tension specimen ISO 37. Uniaxial test data is fitted to the Mooney-Rilivin five parameters material hyperelastic model like the same procedure mentioned in 28 . The material model parameters are: The 3D nonlinear mechanical physical preference finite element models are built for mimicked SPA using the previous hyperelastic model with large deflection mode activation to consider the nonlinearities in the material.…”

Section: Methodsmentioning

confidence: 99%

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Modelling and implementation of soft bio-mimetic turtle using echo state network and soft pneumatic actuators

Soliman

Mousa

Saleh

et al. 2021

Sci Rep

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Advances of soft robotics enabled better mimicking of biological creatures and closer realization of animals’ motion in the robotics field. The biological creature’s movement has morphology and flexibility that is problematic deportation to a bio-inspired robot. This paper aims to study the ability to mimic turtle motion using a soft pneumatic actuator (SPA) as a turtle flipper limb. SPA’s behavior is simulated using finite element analysis to design turtle flipper at 22 different geometrical configurations, and the simulations are conducted on a large pressure range (0.11–0.4 Mpa). The simulation results are validated using vision feedback with respect to varying the air pillow orientation angle. Consequently, four SPAs with different inclination angles are selected to build a bio-mimetic turtle, which is tested at two different driving configurations. The nonlinear dynamics of soft actuators, which is challenging to model the motion using traditional modeling techniques affect the turtle’s motion. Conclusively, according to kinematics behavior, the turtle motion path is modeled using the Echo State Network (ESN) method, one of the reservoir computing techniques. The ESN models the turtle path with respect to the actuators’ rotation motion angle with maximum root-mean-square error of $$1.04 \times 10^{-11}$$ 1.04 × 10 - 11 . The turtle is designed to enhance the robot interaction with living creatures by mimicking their limbs’ flexibility and the way of their motion.

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Section: Methodsmentioning

confidence: 99%

“…The actuator motion is simulated by Finite Element Analysis (FEA) simulation tool at different angles of orientation of the air chambers. The FEA is used as a study for design optimization like-wise the study in 28 . The SPAs are tested over a large range of pressure starting from 0.1 MPa to 0.4 MPa with a step 0.01.…”

Section: Introductionmentioning

confidence: 99%

Modelling and implementation of soft bio-mimetic turtle using echo state network and soft pneumatic actuators

Soliman

Mousa

Saleh

et al. 2021

Sci Rep

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“…As for agriculture applications, bioimpedance integrated grippers can perform EIS for different fruits which can assist in the picking decision as shown in Fig. 9 E [97]. This approach paves the way for gathering impedance data for underwater life through Soft Under-Water Robots (SUWR).…”

Section: Bioimpedance Potential In Biohybrid Soft Robots and E-skin Applicationsmentioning

confidence: 99%

“…(C) shows after loading force on the soft structure leading to a rise in the frequency recorded as clear in (D). (E) shows a successful trial to implement EIS on a ripe apple [97], while (F) shows a pilot design of a fish tail to fabricate a soft underwater robot.…”

Section: Figurementioning

confidence: 99%

Biohybrid Soft Robots, E-Skin, and Bioimpedance Potential to Build Up Their Applications: A Review

et al. 2020

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“…rough the oscillation frequency, the displacement output of the actuator could be determined, so as to realize the motion control of the soft-bodied actuator. Saleh et al [29] from Nile University have studied the slope angle of the expansion wall of the pneumatic soft-bodied actuator and determined the relationship among inflation pressure, motion range, and reaction force of the soft-bodied actuator through nonlinear static finite element analysis. e feasibility of the design of the soft-bodied actuator is verified by using the load scale in the experiment, proving that the design can meet the grasping requirements of the soft-bodied manipulator.…”

Section: Introductionmentioning

confidence: 99%

Development and Performance Analysis of Pneumatic Soft-Bodied Bionic Basic Execution Unit

Zeng

Zhao

Wang

et al. 2020

Journal of Robotics

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This paper studies the design of pneumatic soft-bodied bionic basic execution unit with soft-rigid combination, which can be used as an actuator for pneumatic soft-bodied robots and soft-bodied manipulators. This study is inspired by structural characteristics and motion mechanism of biological muscles, combined with the nonlinear hyperelasticity of silica gel and the insertion of thin leaf spring structure in the nonretractable layer. Response surface analysis and numerical simulation algorithm are used to determine the optimal combination of structural dimension parameters by taking the maximum output bending angle of the basic executing unit as the optimization objective. Based on Odgen’s third-order constitutive model, the deformation analysis model of the basic execution unit is established. The physical model of pneumatic soft-bodied bionic basic execution unit is prepared through 3D printing, shape deposition, soft lithography, and other processing methods. Finally, the motion and dynamic characteristics of the physical model are tested through experiments and result analysis, thus obtaining curves and empirical formulas describing the motion and dynamic characteristics of the basic execution unit. The relevant errors are compared with the deformation analysis model of the execution unit to verify the feasibility and effectiveness of the design of the pneumatic soft-bodied bionic basic execution unit. The above research methods, research process, and results can provide a reference for the research and implementation of pneumatic and hydraulic driven soft-bodied robots and grasping actuators of soft-bodied manipulators.

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Design and implementation of variable inclined air pillow soft pneumatic actuator suitable for bioimpedance applications

Cited by 26 publications

References 37 publications

Modelling and implementation of soft bio-mimetic turtle using echo state network and soft pneumatic actuators

Modelling and implementation of soft bio-mimetic turtle using echo state network and soft pneumatic actuators

Biohybrid Soft Robots, E-Skin, and Bioimpedance Potential to Build Up Their Applications: A Review

Development and Performance Analysis of Pneumatic Soft-Bodied Bionic Basic Execution Unit

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