Soft Pneumatic Bending Actuator with Integrated Carbon Nanotube Displacement Sensor

Giffney, Tim; Xie, Mengying; Yong, A.; Wong, Andrew Barnabas; Mousset, Philippe; McDaid, Andrew; Aw, Kean C.

doi:10.3390/robotics5010007

Cited by 40 publications

(27 citation statements)

References 22 publications

Supporting

Mentioning

Contrasting

Order By: Relevance

mentioning

confidence: 78%

“…They compared the slow and rapid actuation using pneumatic networks and showed a novel pattern of actuation which was sufficiently durable. Several similar actuation mechanisms that can perform a bending movement have been reported [17][18][19][20][21][22].The soft pneumatic network actuators that can generate significant deflection have considerable potential for medical applications, especially for prosthetic and rehabilitation devices. However, the bending performance of these kinds of actuators strongly depends on the design parameters of the channels.…”

mentioning

confidence: 90%

“….) [22], as shown in Figure 8, and the cantilever will bend towards the neutral axis. The radius of curvature is given by…”

Section: Effect Of Channel Wall Thicknessmentioning

confidence: 99%

“…The deformation of the chamber is caused by the offset e between the centre of pressure (P) and the neutral axis (N.A.) [22], as shown in Figure 8, and the cantilever will bend towards the neutral axis. The radius of curvature is given by…”

Section: Effect Of Channel Wall Thicknessmentioning

confidence: 99%

See 3 more Smart Citations

A Structural Optimisation Method for a Soft Pneumatic Actuator

Mutlu

et al. 2018

Robotics

View full text Add to dashboard Cite

This study aims to investigate the effects of various design parameters on the actuation performance of a pneumatic network actuator (PNA), optimise its structure using the finite element method (FEM), and subsequently quantify the performance of the resulting actuator topology experimentally. The effects of the structural parameters, including the operation pressure, the wall thickness and the gap between the chambers, bottom layer thickness, and the geometry of the channel cross section, on the deformation and bending angle of the actuator were evaluated to optimise the performance of the pneumatic actuator. A Global Analysis of Variance (ANOVA) was performed to investigate how the variables affect the mechanical output of the actuator and, thus, the significance of variables affecting the deformation (and bending angle) of the pneumatic actuator was identified. After the parameter optimisation, a pneumatic channel with a 4.5 mm bottom layer thickness, 1.5 mm wall thickness, and 1.5 mm gap between sequential chambers is recommended to perform optimised bending motion for the pneumatic network actuator. The optimised FE model results were verified experimentally. This design optimisation method based on the FEM and ANOVA analysis can be extended to the topology optimisation of other soft actuators.Robotics 2018, 7, 24 2 of 16 compliance and safety. A pneumatic actuation methodology based on PneuNets' concept can generate a simple bending motion with only one pressure source [10]. The PneuNets geometry and mechanics have been investigated using a simple theoretical model [11]. This model has the potential to be used as a design principle for designing soft pneumatic autonomous actuators. The effect of material properties and chamber geometry on the performance of the actuator is described. The movements of this soft actuator are generated by pressurising the internal PneuNets, and the configuration of the actuator is determined by the structure of the channels. Air is selected as the power source for its unique features, such as compressibility, ease of storage, low viscosity, and ability to provide rapid actuation process. The same methodology has been used in a multigait quadrupedal soft robot [12]. These robots, like some animals (such as squids, starfish, and worms), have no rigid internal skeletons. The soft robot described in [13] combines microfluidics and the PneuNets concept. The pneumatic systems are used for activation and the colour-filled microfluidics channels in the thin silicone surface are used for camouflage. Various applications using these kinds of actuators have been reported [7,14,15]. A large pneumatically actuated soft robot (0.65 m in length) with an embedded controller, battery, and miniature compressors was developed in [16]. This soft robot can carry its power system and adapts to various environments. The main difference between the large robot and the PneuNets robots is that there is a small gap between the adjacent channels. It can provide a higher work output and rapid movement. Mo...

show abstract

mentioning

confidence: 78%

mentioning

confidence: 90%

“….) [22], as shown in Figure 8, and the cantilever will bend towards the neutral axis. The radius of curvature is given by…”

Section: Effect Of Channel Wall Thicknessmentioning

confidence: 99%

Section: Effect Of Channel Wall Thicknessmentioning

confidence: 99%

See 2 more Smart Citations

A Structural Optimisation Method for a Soft Pneumatic Actuator

Mutlu

et al. 2018

Robotics

View full text Add to dashboard Cite

show abstract

“…-Laser cutting can also be used to make planar moulds [97,98]. Tolley et al [99] fabricated 65 cm long actuators with moulds made by waterjet and laser-cutting.…”

Section: D Moulding (Fig 4 C)mentioning

confidence: 99%

Elastic Inflatable Actuators for Soft Robotic Applications

et al. 2017

View full text Add to dashboard Cite

The 20th century's robotic systems have been made from stiff materials, and much of the developments have pursued ever more accurate and dynamic robots, which thrive in industrial automation, and will probably continue to do so for decades to come. However, the 21st century's robotic legacy may very well become that of soft robots. This emerging domain is characterized by continuous soft structures that simultaneously fulfill the role of robotic link and actuator, where prime focus is on design and fabrication of robotic hardware instead of software control. These robots are anticipated to take a prominent role in delicate tasks where classic robots fail, such as in minimally invasive surgery, active prosthetics, and automation tasks involving delicate irregular objects. Central to the development of these robots is the fabrication of soft actuators. This article reviews a particularly attractive type of soft actuators that are driven by pressurized fluids. These actuators have recently gained traction on the one hand due to the technology push from better simulation tools and new manufacturing technologies, and on the other hand by a market pull from applications. This paper provides an overview of the different advanced soft actuator configurations, their design, fabrication, and applications.

show abstract

High‐Speed and Low‐Energy Actuation for Pneumatic Soft Robots with Internal Exhaust Air Recirculation

Feng

Yang

Majidi

et al. 2023

Advanced Intelligent Systems

View full text Add to dashboard Cite

Multichamber soft pneumatic actuators (m‐SPAs) are widely used in soft robotic systems to achieve versatile grasping and locomotion. However, existing m‐SPAs have slow actuation speed and are either limited by a finite air supply or require energy‐consuming hardware to continuously supply compressed air. Herein, these shortcomings by introducing an internal exhaust air recirculation (IEAR) mechanism for high‐speed and low‐energy actuation of m‐SPAs are addressed. This mechanism recirculates the exhaust compressed air and recovers the energy by harnessing the rhythmic actuation of multiple chambers. A theoretical model to guide the analysis of the IEAR mechanism, which agrees well with the experimental results, is developed. Comparative experimental results of several sets of m‐SPAs show that the IEAR mechanism significantly improves the actuation speed by more than 82.4% and reduces the energy consumption per cycle by more than 47.7% under typical conditions. The promising applications of the IEAR mechanism in various pneumatic soft machines and robots such as a robotic fin, fabric‐based finger, and quadruped robot are further demonstrated. An interactive preprint version of the article can be found at: https://doi.org/10.22541/au.166428178.80668101/v1.

show abstract

Soft Pneumatic Bending Actuator with Integrated Carbon Nanotube Displacement Sensor

Cited by 40 publications

References 22 publications

A Structural Optimisation Method for a Soft Pneumatic Actuator

A Structural Optimisation Method for a Soft Pneumatic Actuator

Elastic Inflatable Actuators for Soft Robotic Applications

High‐Speed and Low‐Energy Actuation for Pneumatic Soft Robots with Internal Exhaust Air Recirculation

Contact Info

Product

Resources

About