Design and Modeling of a High Force Soft Actuator for Assisted Elbow Flexion

Ang, Benjamin W. K.; Yeow, Chen-Hua

doi:10.1109/lra.2020.2980990

Cited by 31 publications

(25 citation statements)

References 40 publications

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“…They can interact with humans through intimate contact and are compact. [46] Many actuators have been proposed for assisting human gestures [46,[85][86][87][88][89][90] and mechanically stimulating human senses. [44,45,[91][92][93][94][95] For instance, wearable gloves with soft actuators such as pneumatic actuators, can assist rehabilitation by supporting the grasping force.…”

Section: Stretchable Actuators For Hmimentioning

confidence: 99%

“…Human assistive devices are not restricted to a glove system. [88,90,101,102] Actuator behaving as an artificial muscle can be an assistive device. However, previously introduced stretchable actuators lack the forces compared to rigid robots, which makes it challenging to be satisfiable to heavy joints, such as the elbow and shoulder.…”

Section: Stretchable Human Assistive Devicesmentioning

confidence: 99%

Section: Stretchable Actuators For Hmimentioning

confidence: 99%

“…However, previously introduced stretchable actuators lack the forces compared to rigid robots, which makes it challenging to be satisfiable to heavy joints, such as the elbow and shoulder. [ 88 ] Recently, a group manufactured a soft pneumatic actuator for elbow assistive use that is capable of exerting force up to 100 N (Figure 5d). [ 88 ] Furthermore, Maziz et al showed a new concept, a textile actuator that is capable of providing large forces by combining structures such as plain weaves.…”

Section: Stretchable Actuators For Hmimentioning

confidence: 99%

“…[ 88 ] Recently, a group manufactured a soft pneumatic actuator for elbow assistive use that is capable of exerting force up to 100 N (Figure 5d). [ 88 ] Furthermore, Maziz et al showed a new concept, a textile actuator that is capable of providing large forces by combining structures such as plain weaves. [ 86 ] Textile processing (knitting, weaving) of electroactive polymers enables the fabrication of textile actuators with excellent stretchability due to its structure for designing assistive devices (Figure 5e).…”

Section: Stretchable Actuators For Hmimentioning

confidence: 99%

See 4 more Smart Citations

Smart Stretchable Electronics for Advanced Human–Machine Interface

Kim

Suh

2020

Advanced Intelligent Systems

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Section: Stretchable Actuators For Hmimentioning

confidence: 99%

Section: Stretchable Human Assistive Devicesmentioning

confidence: 99%

Section: Stretchable Actuators For Hmimentioning

confidence: 99%

Section: Stretchable Actuators For Hmimentioning

confidence: 99%

Section: Stretchable Actuators For Hmimentioning

confidence: 99%

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Smart Stretchable Electronics for Advanced Human–Machine Interface

Kim

Suh

2020

Advanced Intelligent Systems

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Soft Pneumatic Actuators with Controllable Stiffness by Bio‐Inspired Lattice Chambers and Fused Deposition Modeling 3D Printing

et al. 2023

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This article shows how changing 3D printing parameters and using bio‐inspired lattice chambers can engineer soft pneumatic actuators (SPAs) with different behaviors in terms of controlling tip deflection and tip force using the same input air pressure. Fused deposition modeling (FDM) is employed to 3D print soft pneumatic actuators using varioShore thermoplastic polyurethane (TPU) materials with a foaming agent. The effects of material flow and nozzle temperature parameters on the material properties and stiffness are investigated. Auxetic, columns, face‐centered cubic, honeycomb, isotruss, oct vertex centroid, and square honeycomb lattices are designed to study actuators’ behaviors under the same input pressure. Finite‐element simulations based on the nonlinear hyper‐elastic constitutive model are carried out to precisely predict the behavior, deformation, and tip force of the actuators. A closed‐loop pneumatic system and sensors are developed to control the actuators. Results show that lattice designs can control the bending angle and generated force of actuators. Also, the lattices increase the ultimate strength by controlling the contact area inside the chambers. They demonstrate variable stiffness behaviors and deflections under the same pressure between 100 and 500 kPa. The proposed actuators could be instrumental in designing wearable hand rehabilitative devices that assist customized finger and wrist flexion‐extension.

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A Review of 3D‐Printable Soft Pneumatic Actuators and Sensors: Research Challenges and Opportunities

Tawk

Alici

2021

Advanced Intelligent Systems

100

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The soft robotics field is changing the way people think, build, interact, and most importantly perceive robots. Robots have long been perceived as machines made of metals that their sole purpose is to perform repetitive tasks in isolated environments. Herein, the recently developed soft pneumatic actuators and sensors that are fabricated using additive manufacturing techniques and in which the fluid used for actuation and sensing is mainly or solely air are focused upon. This review presents the soft pneumatic actuators and sensors in terms of their types, materials, fabrication techniques, capabilities, and applications. Also, it offers a discussion on the presented 3D‐printable soft actuators and sensors along with a list of what is needed to develop robust and functional soft actuators and sensors for soft robots and how such robots will evolve in the future. This article is expected to stimulate more interaction between materials scientists and robotic researchers to synthesize soft and functional materials that meet application, function, and user requirements, in a way to implement a top‐down approach to shorten the path between science and application of soft smart materials and their use in establishing functional soft robotic systems.

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Design and Modeling of a High Force Soft Actuator for Assisted Elbow Flexion

Cited by 31 publications

References 40 publications

Smart Stretchable Electronics for Advanced Human–Machine Interface

Smart Stretchable Electronics for Advanced Human–Machine Interface

Soft Pneumatic Actuators with Controllable Stiffness by Bio‐Inspired Lattice Chambers and Fused Deposition Modeling 3D Printing

A Review of 3D‐Printable Soft Pneumatic Actuators and Sensors: Research Challenges and Opportunities

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