Characterization of silicone rubber based soft pneumatic actuators
Yi Sun,Yun Seong Song,Jamie Paik +2 more
- pp 4446-4453
TLDR
This work presents two types of pneumatic actuators: bending and rotary actuators, and develops two measurement setups to characterize actuators of different geometries.Abstract:
Conventional pneumatic actuators have been a popular choice due to their decent force/torque output. Nowadays, new generation of pneumatic actuator made out of highly compliant elastomers, which we call soft pneumatic actuators (SPA), are drawing increasing attention due to their ease of fabrication, high customizability and innately softness. However, there is no effective method presented to characterize and understand these actuators, such as to measure the force and torque output, range of motion and the speed of actuation. In this work, we present two types of SPAs: bending and rotary actuators. In addition, we have developed two measurement setups to characterize actuators of different geometries. The measured force/torque outputs of different actuators are presented and analyzed. Step responses to certain pressure input are presented and discussed. A simple model is presented to provide physical insight to the observed behavior of the soft actuators. This work provides the basis for designing customized SPAs with application-specific requirements.read more
Citations
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Journal ArticleDOI
Modeling of Soft Fiber-Reinforced Bending Actuators
Panagiotis Polygerinos,Zheng Wang,Johannes T. B. Overvelde,Kevin C. Galloway,Robert J. Wood,Katia Bertoldi,Conor J. Walsh +6 more
TL;DR: This study provides a set of systematic design rules to help the robotics community create soft actuators by understanding how these vary their outputs as a function of input pressure for a number of geometrical parameters.
Journal ArticleDOI
Soft material for soft actuators
TL;DR: A single self-contained soft robust composite material that combines the elastic properties of a polymeric matrix and the extreme volume change accompanying liquid vapour transition is shown that could enable new kinds of electrically driven entirely soft robots.
Journal ArticleDOI
Active Printed Materials for Complex Self-Evolving Deformations
Dan Raviv,Wei Zhao,Carrie McKnelly,Athina Papadopoulou,Achuta Kadambi,Boxin Shi,Shai Hirsch,Daniel Dikovsky,Michael Zyracki,Carlos Olguin,Ramesh Raskar,Skylar Tibbits +11 more
TL;DR: A novel approach for simulating and fabricating self-evolving structures that transform into a predetermined shape, changing property and function after fabrication is introduced.
Journal ArticleDOI
Soft Robotics Technologies to Address Shortcomings in Today's Minimally Invasive Surgery: The STIFF-FLOP Approach
CianchettiMatteo,RanzaniTommaso,GerboniGiada,NanayakkaraThrishantha,AlthoeferKaspar,DasguptaProkar,MenciassiArianna +6 more
TL;DR: In this paper, the authors proposed a new concept of soft and stiffness-controllable instruments for single-site or natural orifice transluminal surgery using the octopus as a model.
Journal ArticleDOI
Self-healing soft pneumatic robots
TL;DR: This research proposes to construct soft robotics entirely out of self-healing elastomers, on the basis of healing capacities found in nature, and shows how realistic macroscopic damage could be healed entirely using a mild heat treatment.
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