Soft Printable Pneumatics for Wrist Rehabilitation

Yap, Hui-Kim; Ng, How Yong; Yeow, Chen-Hua

doi:10.1007/978-3-319-46669-9_90

Cited by 3 publications

(1 citation statement)

References 7 publications

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“…Especially, the advent of 3D printing of ease of use and low cost offers the possibility to rapidly construct a wide range of printable robotic adaptations, 31 for example, low-cost printable robots in education, 32 as well as exoskeletal devices. 33,34 Clearly, we further have noted the junction between origami-inspired printable robotics and soft robotics, and the latter is another young and interesting robotic paradigm. 35,36 More deeply, we had insight into that the words ''programming'' or ''programmable'' were used to define some metamaterials, 6,7,8 robots, 37 and broadly shapeshifting operations.…”

Section: Introductionmentioning

confidence: 93%

Origami spring–inspired metamaterials and robots: An attempt at fully programmable robotics

Wang

Cheng

et al. 2020

Science Progress

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Recent advances in three-dimensional printing technologies provide one way not only to speed up freeform fabrication but also to exert programmable control over mechanical properties. Besides, origami-inspired structures, origami-inspired metamaterials, and even origami-inspired robotics primarily demonstrate the promising potential for innovative inspirations of engineering solutions. The motivation of this work is to explore a fully programmable robotic perspective with a fusion of programmable metamaterials, programmable mechanics, and programmable fabrication. First, we proposed an illustrative roadmap for transforming an origami model into a fully programmable robotic system. Then, we introduced an origami spring model and revealed its shape-shifting geometry and intrinsic metamaterial mechanisms, especially the rarely switchable behavior from transverse compression to longitudinal stretchability, and the curvilinear deployment. Furthermore, we addressed the fabrication challenges of three-dimensional printable origami sheets considering three-dimensional printability, foldability with high elasticity, and good damage tolerance. Finally, we developed a fully soft manipulator in terms of the highly reversible compressibility of origami spring metamaterials. And we also devised a peristaltic crawling robot with undulatory movements induced by inclination deployment effect of origami spring metamaterials. Conceivably, the proposed fully programmable robotic system was demonstrated starting from programmable metamaterials, programmable mechanics, and programmable fabrication to programmable robotic behaviors. The contribution of this work also suggested that robotic morphing could be tunable by hierarchical programming from modeling and fabrication to actions.

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Section: Introductionmentioning

confidence: 93%

Origami spring–inspired metamaterials and robots: An attempt at fully programmable robotics

Wang

Cheng

et al. 2020

Science Progress

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Static Modeling of Soft Reinforced Bending Actuator Considering External Force Constraints

et al. 2022

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The Design, Kinematics and Torque Analysis of the Self-Bending Soft Contraction Actuator

2020

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This article presents the development of a self-bending contraction actuator (SBCA) through the analysis of its structure, kinematics, and torque formulas, and then explores its applications. The proposed actuator has been fabricated by two methods to prove the efficiency of the human body inspiration, which represents the covering of human bones by soft tissues to protect the bone and give the soft texture. The SBCA provides bending behaviour along with a high force-to-weight ratio. As with the simple pneumatic muscle actuator (PMA), the SBCA is soft and easy to implement. Both the kinematics and the torque formula presented for the SBCA are scalable and can be used with different actuator sizes. The bending actuator has been tested under an air pressure of up to 500 kPa, and the behaviour of its bending angle, parameters, dimensions, and the bending torques have been illustrated. On the other hand, the experiments showed the efficient performances of the actuator and validate the proposed kinematics. Therefore, the actuator can be used in many different applications, such as soft grippers and continuum arms.

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Soft Printable Pneumatics for Wrist Rehabilitation

Cited by 3 publications

References 7 publications

Origami spring–inspired metamaterials and robots: An attempt at fully programmable robotics

Origami spring–inspired metamaterials and robots: An attempt at fully programmable robotics

Static Modeling of Soft Reinforced Bending Actuator Considering External Force Constraints

The Design, Kinematics and Torque Analysis of the Self-Bending Soft Contraction Actuator

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