Topology Optimized Multimaterial Soft Fingers for Applications on Grippers, Rehabilitation, and Artificial Hands

Zhang, Hongying; Kumar, Amit; Chen, Feifei; Fuh, Jerry Ying Hsi; Wang, Michael Yu

doi:10.1109/tmech.2018.2874067

Cited by 104 publications

(62 citation statements)

References 41 publications

Supporting

Mentioning

Contrasting

Order By: Relevance

“…In a general sense, our approach paves the way for shifting the design of soft actuators and robots from classical intuitive or empirical design paradigms to a more systematic process based on mathematics and optimization theories. With the unconstrained design space in terms of the geometric configuration [56], [57], material distributions [58] and volumetric actuations [59], enabled by additive manufacturing techniques and fast simulation algorithms [4], [60], design optimization approaches are becoming increasingly important and indispensable to generate novel mechanisms and deformable robots.…”

Section: Discussionmentioning

confidence: 99%

Automatic Design of Soft Dielectric Elastomer Actuators With Optimal Spatial Electric Fields

et al. 2019

Self Cite

View full text Add to dashboard Cite

 Users may download and print one copy of any publication from the public portal for the purpose of private study or research.  You may not further distribute the material or use it for any profit-making activity or commercial gain  You may freely distribute the URL identifying the publication in the public portal If you believe that this document breaches copyright please contact us providing details, and we will remove access to the work immediately and investigate your claim.

show abstract

Section: Discussionmentioning

confidence: 99%

Automatic Design of Soft Dielectric Elastomer Actuators With Optimal Spatial Electric Fields

et al. 2019

Self Cite

View full text Add to dashboard Cite

show abstract

“…Rehabilitation device for hand should not be more than 0.5 kg as a standard for getting the better result for rehabilitation where robotic gloves proposed in this work weighs 157g and 160g as compared to 220g [73] and 230g [74][75]. A rehabilitation finger should generate block force of 1N magnitude to facilitate the rehabilitation process.…”

Section: Discussionmentioning

confidence: 99%

Low Cost Soft Robotic Gloves for At-home Rehabilitation and Daily Living Activities

Souhail

Vessakosol

2019

JAMRIS

View full text Add to dashboard Cite

Stroke is one of the major reasons which affect the human hand functionality and lead to disability. Different repetitive exercises are used to regain the hand functionality which involves robotic exoskeleton. Soft pneumatic actuators are one of the good alternatives to rigid and fixed exoskeletons for rehabilitation. This paper presents soft robotic gloves fabricated with two different lowcost silicones which can be used in daily living activities and rehabilitation purpose. Soft robotic gloves are light weight and compact. These robotic gloves utilize the pneumatic pressure to flex and extend the human hand. Soft robotic gloves were tested on a healthy object for grasping and rehabilitation ability. Results showed that robotic glove was able to grasping and do the Kapandji test. This work presents an important step toward low cost efficient soft robotic devices for rehabilitation of stroke patients.

show abstract

“…The design domain Ω is discretized into elements, the elementwise density is taken as a design variable continuously defined between 0 and 1. For a single element, its Young's modulus is described by a power-law interpolation of the solid material phase and the void phase , which is given by [26]:…”

Section: Structure Of the Optimization Problemmentioning

confidence: 99%

Topology-Optimized 4D Printing of a Soft Actuator

Zolfagharian

Denk

Bodaghi

et al. 2019

Acta Mech. Solida Sin.

View full text Add to dashboard Cite

Soft robots and actuators are emerging devices providing more capabilities in the field of robotics. More flexibility and compliance attributing to soft functional materials used in the fabrication of these devices make them ideal for delivering delicate tasks in fragile environments, such as food and biomedical sectors. Yet, the intuitive nonlinearity of soft functional materials and their anisotropic actuation in compliant mechanisms constitute an existent challenge in improving their performance. Topology optimization (TO) along with four-dimensional (4D) printing is a powerful digital tool that can be used to obtain optimal internal architectures for the efficient performance of porous soft actuators. This paper employs TO analysis for achieving high bending deflection of a 3D printed polyelectrolyte actuator, which shows bending deformations in response to electrical stimuli in an electrolyte solution. The performance of the actuator is studied in terms of maximum bending and actuation rate compared with a solid, uniformly 3D printed, and topology optimized actuator. The experimental results proved the effectiveness of TO on achieving higher bending deformation and actuation rate against a uniformly 3D printed actuator.

show abstract

Topology Optimized Multimaterial Soft Fingers for Applications on Grippers, Rehabilitation, and Artificial Hands

Cited by 104 publications

References 41 publications

Automatic Design of Soft Dielectric Elastomer Actuators With Optimal Spatial Electric Fields

Automatic Design of Soft Dielectric Elastomer Actuators With Optimal Spatial Electric Fields

Low Cost Soft Robotic Gloves for At-home Rehabilitation and Daily Living Activities

Topology-Optimized 4D Printing of a Soft Actuator

Contact Info

Product

Resources

About