Segmentation of a Soft Body and its Bending Performance using Thin McKibben Muscle

Abstract

In recent years, soft actuator has been extensively developed in robotic research. This type of robot is expected to work with human with its flexible and adaptable advantage. The actuator material is soft, light, safe and high compliant. Due to these factors, soft McKibben is of interest as an actuator for this research for bending application. This paper introduces a variant bending analysis of a soft body manipulated using soft McKibben actuators. A series of 1.80 mm width with the length of 120.0 mm McKibben actuator is used to control the bending motion. The design consists of four McKibben actuators arranged in parallel and compacted in a soft body. The bending behavior was evaluated using an experimental test with a variety of pneumatic input pressure and length section on the actuator. The experiment showed that the bending angle was influenced by the segmentation length of the actuator, where the segmentation length and increased input pressure also allow more bending on the actuator. The actuator with lot of section gave more bending response compared to the actuator with lesser section. With the performance exhibited from this study, McKibben actuator can be applied in a wider use for continuum manipulator.

A Systematic Review of Soft Actuators in Agriculture

“…Moreover, it uses a cheap, safe and clean energy source which is air pressure. This fact may explain why there is an increasing interest in their applications, for example, in continuum manipulators (Mohamed et al, 2020), serial robots (Anh, 2010), servo systems (Jouppila et al, 2014;Shen, 2010) and parallel robot (Son et al, 2017), just to name a few.…”

A DIY Fabrication Approach of Stretchable Sensors Using Carbon Nano Tube Powder for Wearable Device

“…Many soft actuator devices have already been developed. Examples of soft actuators include soft pneumatic actuators ( Faudzi et al, 2018 ; Mohamed et al, 2020 ; Tschiersky et al, 2020 ; Ying et al, 2020 ; Luo et al, 2021 ), soft electroadhesion ( Shintake et al, 2016 ; Guo et al, 2018 ; Okuno et al, 2019 ; Persson and Guo, 2019 ), stretchable pumps ( Cacucciolo et al, 2019 ; Seki et al, 2020 ; Shigemune et al, 2021 ), dielectric elastomer actuators (DEAs) ( Ji et al, 2019 ; Kajiwara et al, 2019 ; Minaminosono et al, 2019 ; Wang et al, 2019 ; Hiruta et al, 2021 ; Takagi et al, 2021 ; Wiranata et al, 2021 ; Zhao et al, 2021 ) a shape memory polymer ( Besse et al, 2017 ; Li et al, 2020 ; Miao et al, 2020 ; Scalet, 2020 ; Zeng et al, 2020 ), and gel actuators ( Maeda et al, 2007 , 2010 ; Hwang et al, 2019 ; Mao et al, 2020a , 2020b ; Zhang et al, 2020 ). To create an interface between soft actuators and human activity, the actuator must be equipped with an appropriate sensing method.…”

Video2.MP4

“…Many soft actuator devices have already been developed. Examples of soft actuators include soft pneumatic actuators (Faudzi et al, 2018;Mohamed et al, 2020;Tschiersky et al, 2020;Ying et al, 2020;Luo et al, 2021), soft electroadhesion (Shintake et al, 2016;Guo et al, 2018;Okuno et al, 2019;Persson and Guo, 2019), stretchable pumps (Cacucciolo et al, 2019;Seki et al, 2020;Shigemune et al, 2021), dielectric elastomer actuators (DEAs) (Ji et al, 2019;Kajiwara et al, 2019;Minaminosono et al, 2019;Wang et al, 2019;Hiruta et al, 2021;Takagi et al, 2021;Zhao et al, 2021) a shape memory polymer (Besse et al, 2017;Li et al, 2020;Miao et al, 2020;Scalet, 2020;Zeng et al, 2020), and gel actuators (Maeda et al, 2007(Maeda et al, , 2010Hwang et al, 2019;Mao et al, 2020aMao et al, , 2020bZhang et al, 2020).…”