Simple, Low-Hysteresis, Foldable, Fabric Pneumatic Artificial Muscle

Naclerio, Nicholas D.; Hawkes, Elliot W.

doi:10.1109/lra.2020.2976309

Cited by 68 publications

(38 citation statements)

References 25 publications

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“…However, they can suffer from delamination of the thermoplastic layer from the fabric at stress concentrations, resulting in leaks. Other coated fabrics used in everting vine robots include thermoset-coated fabrics, like the silicone-infused ripstop nylon used by Haggerty et al ( 2019 ) and Naclerio and Hawkes ( 2020 ). These fabrics do not suffer from delamination but do require different manufacturing techniques than thermoplastics.…”

Section: Designmentioning

confidence: 99%

“…This joint can then be heat-sealed as described above for thermoplastics. For thermoset-coated fabrics (e.g., silicone-infused ripstop nylon), the fabric coating is double-sided, so a tube can be formed using the stronger “lap” joint, i.e., a joint where the opposite sides of the material touch, as described in Naclerio and Hawkes ( 2020 ). This joint can be sealed using silicone-based adhesives with light pressure application to ensure a continuous bead of adhesive between the two layers of fabric.…”

Section: Designmentioning

confidence: 99%

“…Using body materials with directional extensibility allows everting vine robot stiffness to be varied along different axes. Directional extensibility can be created in thermosets using strain limiting layers, and woven fabrics naturally have a “bias,” i.e., unequal strain along different axes relative to the fabric weave or “grain.” Ripstop nylon in particular has nearly no strain in the direction of the fibers but can strain up to 20% along the 45°-axis (Naclerio and Hawkes, 2020 ). Everting vine robots made out of silicone-infused ripstop nylon exchange high axial stiffness, when the fabric grain is along the robot body's axis (the “unbiased” orientation), for high torsional stiffness, when the fabric bias is along the robot body's axis (the “biased” orientation).…”

Section: Designmentioning

confidence: 99%

“…When pressurized, fPAMs expand radially and shorten in length, similar to a McKibben actuator (Gaylord, 1958 ; Geddes et al, 1959 ). fPAMs were demonstrated in Naclerio and Hawkes ( 2020 ) and Selvaggio et al ( 2020 ) to steer everting vine robots. They have a slightly lower maximum contraction ratio (30% was reported in Naclerio and Hawkes, 2020 ) than sPAMs, but also show very little hysteresis.…”

Section: Designmentioning

confidence: 99%

“…fPAMs were demonstrated in Naclerio and Hawkes ( 2020 ) and Selvaggio et al ( 2020 ) to steer everting vine robots. They have a slightly lower maximum contraction ratio (30% was reported in Naclerio and Hawkes, 2020 ) than sPAMs, but also show very little hysteresis.…”

Section: Designmentioning

confidence: 99%

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Design, Modeling, Control, and Application of Everting Vine Robots

et al. 2020

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In nature, tip-localized growth allows navigation in tightly confined environments and creation of structures. Recently, this form of movement has been artificially realized through pressure-driven eversion of flexible, thin-walled tubes. Here we review recent work on robots that “grow” via pressure-driven eversion, referred to as “everting vine robots,” due to a movement pattern that is similar to that of natural vines. We break this work into four categories. First, we examine the design of everting vine robots, highlighting tradeoffs in material selection, actuation methods, and placement of sensors and tools. These tradeoffs have led to application-specific implementations. Second, we describe the state of and need for modeling everting vine robots. Quasi-static models of growth and retraction and kinematic and force-balance models of steering and environment interaction have been developed that use simplifying assumptions and limit the involved degrees of freedom. Third, we report on everting vine robot control and planning techniques that have been developed to move the robot tip to a target, using a variety of modalities to provide reference inputs to the robot. Fourth, we highlight the benefits and challenges of using this paradigm of movement for various applications. Everting vine robot applications to date include deploying and reconfiguring structures, navigating confined spaces, and applying forces on the environment. We conclude by identifying gaps in the state of the art and discussing opportunities for future research to advance everting vine robots and their usefulness in the field.

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Section: Designmentioning

confidence: 99%

Section: Designmentioning

confidence: 99%

Section: Designmentioning

confidence: 99%

Section: Designmentioning

confidence: 99%

Section: Designmentioning

confidence: 99%

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Design, Modeling, Control, and Application of Everting Vine Robots

et al. 2020

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Fluidic Hardware Strategies for Powering Combined Negative‐ and Positive‐Pressure Artificial Muscles

Coutinho

Rodrigue

2023

Adv Eng Mater

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The performance of pneumatic artificial muscles (PAMs) depends in large part on the fluidic hardware used to add and remove air from their volume. A complete fluidic system usually contains tubing, pneumatic regulators, pneumatic valves, and pneumatic pumps. However, for most PAMs, the performance of the actuator depends on how fast air can be taken into and out of the chamber as the presence of a single chamber entails relatively simple fluidic strategies. In the previous work, a type of PAM called hyperbaric vacuum artificial muscles (Hyper‐VAM) which utilizes a negative‐pressure inner chamber placed inside a positive‐pressure outer chamber has been introduced. Herein, advanced fluidic strategies for this actuator by making use of the pressure equilibrium between these two chambers as the building block for advanced fluidic strategies are investigated. It is shown that it is possible to operate the Hyper‐VAM in sub‐ and hyper‐atmospheric conditions during closed‐loop actuation and to use the atmosphere as a natural pump starting from a sub‐ or hyper‐atmospheric equilibrium. Herein, these strategies are demonstrated and compared to basic fluidic strategies and fluidic systems capable of implementing cyclic actuation are demonstrated using these strategies.

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Textile Technology for Soft Robotic and Autonomous Garments

Sánchez¹,

Walsh²,

Wood³

2020

Adv Funct Materials

168

123

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Textiles have emerged as a promising class of materials for developing wearable robots that move and feel like everyday clothing. Textiles represent a favorable material platform for wearable robots due to their flexibility, low weight, breathability, and soft hand‐feel. Textiles also offer a unique level of programmability because of their inherent hierarchical nature, enabling researchers to modify and tune properties at several interdependent material scales. With these advantages and capabilities in mind, roboticists have begun to use textiles, not simply as substrates, but as functional components that program actuation and sensing. In parallel, materials scientists are developing new materials that respond to thermal, electrical, and hygroscopic stimuli by leveraging textile structures for function. Although textiles are one of humankind's oldest technologies, materials scientists and roboticists are just beginning to tap into their potential. This review provides a textile‐centric survey of the current state of the art in wearable robotic garments and highlights metrics that will guide materials development. Recent advances in textile materials for robotic components (i.e., as sensors, actuators, and integration components) are described with a focus on how these materials and technologies set the stage for wearable robots programmed at the material level.

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Simple, Low-Hysteresis, Foldable, Fabric Pneumatic Artificial Muscle

Cited by 68 publications

References 25 publications

Design, Modeling, Control, and Application of Everting Vine Robots

Design, Modeling, Control, and Application of Everting Vine Robots

Fluidic Hardware Strategies for Powering Combined Negative‐ and Positive‐Pressure Artificial Muscles

Textile Technology for Soft Robotic and Autonomous Garments

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