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Fabrication Of Soft Robotic Actuators By Using Injection Molding Technology
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Book Synopsis Fabrication of Soft Robotic Actuators by Using Injection Molding Technology by : Wanying Li
Download or read book Fabrication of Soft Robotic Actuators by Using Injection Molding Technology written by Wanying Li and published by . This book was released on 2017 with total page 114 pages. Available in PDF, EPUB and Kindle. Book excerpt: Compared with conventional rigid robots, soft robots composed of intrinsically soft materials are featured with compliance independent of their shapes, good adaptability under different environments, and safer interaction with human. High fabrication cost of actuators incurred by convention fabrication methods is one of the main challenges to commercialize soft robots. To reduce the fabrication cost of actuators, injection molding is adopted. Injection molded pneumatic bending actuators composed of elastomer bladder wrapped with patterned strain-limiting sleeve can achieve bending motion. The highest fingertip forces generated by nylon mesh sleeve actuators and hybrid fabric sleeve actuators are 6.9 N and 6.1 N respectively. A prosthetic hand composed of hybrid fabric actuators can hold and lift items. The hand is capable of handling delicate items without causing damages. A modified two-shot injection molding procedure can be a potential fabrication method of PneuNets actuators.
Book Synopsis Implementation of Soft Lithography for the Fabrication of Stacked Dielectric Elastomer Actuators for Soft Robotics by : Mert Corbaci
Download or read book Implementation of Soft Lithography for the Fabrication of Stacked Dielectric Elastomer Actuators for Soft Robotics written by Mert Corbaci and published by . This book was released on 2018 with total page 114 pages. Available in PDF, EPUB and Kindle. Book excerpt: "Advancements in software engineering have enabled the robotics industry to transition from the use of giant industrial robots to more friendly humanoid robots. Soft robotics is one of the key elements needed to advance the transition process by providing a safer way for robots to interact with the environment. Electroactive polymers (EAPs) are one of the best candidate materials for the next generation of soft robotic actuators and artificial muscles. Lightweight dielectric elastomer actuators (DEAs) provide optimal properties such as high elasticity, rapid response rates, mechanical robustness and compliance. However, for DEAs to become widely used as artificial muscles or soft actuators, there are current limitations, such as high actuation voltage requirements, control of actuation direction, and scaling, that need to be addressed. This study presents a novel approach inspired by the natural skeletal muscles to overcome the drawbacks of conventional DEAs. Instead of fabricating a large DEA device, smaller sub-units can be fabricated and bundled together to form larger actuators, similar to the way myofibrils form myocytes in skeletal muscles. Soft lithography and other microfabrication techniques were utilized to allow fabrication of silicone based multilayer stacked DEA structures, composed of hundreds of micro-sized DEA units with mechanically compliant electrodes. Experiments show that free-standing multilayer DEA structures can be fabricated using existing microfabrication tools. Three fabrication approaches, using spin coating, film casting and injection molding were evaluated to improve the repeatability of the fabrication process. Multi-layer DEA fibers can be actuated in sub-kV range while maintaining actuation ratio above 5%."--Abstract.
Book Synopsis Soft Actuators and Robotics by : Hamed Rahimi Nohooji
Download or read book Soft Actuators and Robotics written by Hamed Rahimi Nohooji and published by Mdpi AG. This book was released on 2024-01-17 with total page 0 pages. Available in PDF, EPUB and Kindle. Book excerpt: The Special Issue "Soft Actuators and Robotics" presents a curated collection of innovative research papers that delve into the design, fabrication, and application of soft actuators and soft robotics. This issue captures the interdisciplinary nature of soft robotics, blending principles from engineering, materials science, and computer science to advance the development of robots that are flexible, adaptable, and capable of safe interactions with humans and delicate environments. Each contribution in this issue sheds light on the latest advancements in actuator technology, offering insights into compliant mechanisms, embedded sensors, and artificial muscles. The featured research highlights the progress in programmable soft materials, modeling and simulation of sensorized actuators, and introduces novel approaches to control systems that pave the way for more intuitive and responsive robots. The scope of this issue extends beyond theoretical research, with practical demonstrations of soft actuators in action. From soft grippers that gently handle fragile objects to wearable devices that seamlessly interact with human users, the applications explored here are as diverse as they are groundbreaking. In essence, this Special Issue serves as a testament to the transformative potential of soft robotics. It is a resource for researchers, practitioners, and enthusiasts alike, reflecting the current trends and future directions in soft actuator design and robotics.
Download or read book Soft Actuators written by Kinji Asaka and published by Springer. This book was released on 2014-11-17 with total page 492 pages. Available in PDF, EPUB and Kindle. Book excerpt: The subject of this book is the current comprehensive research and development of soft actuators, and encompasses interdisciplinary studies of materials science, mechanics, electronics, robotics and bioscience. As an example, the book includes current research on actuators based on biomaterials to provide future perspectives for artificial muscle technology. Readers can obtain detailed, useful information about materials, methods of synthesis, fabrication and measurements. The topics covered here not only promote further research and development of soft actuators but also lead the way to their utilization and industrialization. One outstanding feature of the book is that it contains many color figures, diagrams and photographs clearly describing the mechanism, apparatus and motion of soft actuators. The chapter on modeling is conducive to more extensive design work in materials and devices and is especially useful in the development of practical applications. Readers can acquire the newest technology and information about the basic science and practical applications of flexible, lightweight and noiseless soft actuators, which are quite unlike conventional mechanical engines and electric motors. The new ideas offered in this volume will provide inspiration and encouragement to researchers and developers as they explore new fields of applications for soft actuators.
Book Synopsis Design, Fabrication, and Control of Soft Robots with Fluidic Elastomer Actuators by : Andrew Dominic Marchese
Download or read book Design, Fabrication, and Control of Soft Robots with Fluidic Elastomer Actuators written by Andrew Dominic Marchese and published by . This book was released on 2015 with total page 236 pages. Available in PDF, EPUB and Kindle. Book excerpt: The goal of this thesis is to explore how autonomous robotic systems can be created with soft elastomer bodies powered by fluids. In this thesis we innovate in the design, fabrication, control, and experimental validation of both single and multi-segment soft fluidic elastomer robots. First, this thesis describes an autonomous fluidic elastomer robot that is both self-contained and capable of rapid, continuum body motion. Specifically, the design, modeling, fabrication, and control of a soft fish is detailed, focusing on enabling the robot to perform rapid escape responses. The robot employs a compliant body with embedded actuators emulating the slender anatomical form of a fish. In addition, the robot has a novel fluidic actuation system that drives body motion and has all the subsystems of a traditional robot on-board: power, actuation, processing, and control. At the core of the fish's soft body is an array of Fluidic Elastomer Actuators (FEAs). The fish is designed to emulate escape responses in addition to forward swimming because such maneuvers require rapid body accelerations and continuum body motion. These maneuvers showcase the performance capabilities of this self-contained robot. The kinematics and controllability of the robot during simulated escape response maneuvers are analyzed and compared to studies on biological fish. During escape responses, the soft-bodied robot is shown to have similar input-output relationships to those observed in biological fish. The major implication of this portion of the thesis is that a soft fluidic elastomer robot is shown to be both self-contained and capable of rapid body motion. Next, this thesis provides an approach to planar manipulation using soft fluidic elastomer robots. That is, novel approaches to design, fabrication, kinematic modeling, power, control, and planning as well as extensive experimental evaluations with multiple manipulator prototypes are presented. More specifically, three viable manipulator morphologies composed entirely from soft silicone rubber are explored, and these morphologies are differentiated by their actuator structures, namely: ribbed, cylindrical, and pleated. Additionally, three distinct casting-based fabrication processes are explored: lamination-based casting, retractable-pin-based casting, and lost-wax- based casting. Furthermore, two ways of fabricating a multiple DOF manipulator are explored: casting the complete manipulator as a whole, and casting single DOF segments with subsequent concatenation. An approach to closed-loop configuration control is presented using a piecewise constant curvature kinematic model, real-time localization data, and novel fluidic drive cylinders which power actuation. Multi-segment forward and inverse kinematic algorithms are developed and combined with the configuration controller to provide reliable task-space position control. Building on these developments, a suite of task-space planners are presented to demonstrate new autonomous capabilities from these soft robots such as: (i) tracking a path in free-space, (ii) maneuvering in confined environments, and (iii) grasping and placing objects. Extensive evaluations of these capabilities with physical prototypes demonstrate that manipulation with soft fluidic elastomer robots is viable. Lastly, this thesis presents a robotic manipulation system capable of autonomously positioning a multi-segment soft fluidic elastomer robot in three dimensions while subject to the self-loading effects of gravity. Specifically, an extremely soft robotic manipulator morphology that is composed entirely from low durometer elastomer, powered by pressurized air, and designed to be both modular and durable is presented. To understand the deformation of a single arm segment, a static physics-based model is developed and experimentally validated. Then, to kinematically model the multi-segment manipulator, a piece-wise constant curvature assumption consistent with more traditional continuum manipulators is used. Additionally, a complete fabrication process for this new manipulator is defined and used to make multiple functional prototypes. In order to power the robot's spatial actuation, a high capacity fluidic drive cylinder array is implemented, providing continuously variable, closed-circuit gas delivery. Next, using real-time localization data, a processing and control algorithm is developed that generates realizable kinematic curvature trajectories and controls the manipulator's configuration along these trajectories. A dynamic model for this multi-body fluidic elastomer manipulator is also developed along with a strategy for independently identifying all unknown components of the system: the soft manipulator, its distributed fluidic elastomer actuators, as well as its drive cylinders. Next, using this model and trajectory optimization techniques locally-optimal, open-loop control policies are found. Lastly, new capabilities offered by this soft fluidic elastomer manipulation system are validated with extensive physical experiments. These are: (i) entering and advancing through confined three-dimensional environments, (ii) conforming to goal shape-configurations within a sagittal plane under closed-loop control, and (iii) performing dynamic maneuvers we call grabs.
Book Synopsis A Monolithic Fabrication of Pouch Actuated Soft Robots by : Shuhang Zhang
Download or read book A Monolithic Fabrication of Pouch Actuated Soft Robots written by Shuhang Zhang and published by . This book was released on 2021 with total page 76 pages. Available in PDF, EPUB and Kindle. Book excerpt: In this work, a novel, monolithic fabrication method is proposed and developed. The proposed process aims at the fabrication of low profile, pneumatic soft robots powered by pouch actuators and combines the concepts of lamination, 3d printing and thermal bonding. Two different fabrication approaches, the filament welding fabrication and the mask heat pressing fabrication were introduced and tested, preferred manufacturing parameters were obtained by experiments. The fabrication, due to its simplicity and flexibility, enable prototyping of soft actuators with different applications and properties and therefore has potential for future application in soft robotics.
Book Synopsis Smart Materials in Additive Manufacturing, Volume 3 by : Ali Zolfagharian
Download or read book Smart Materials in Additive Manufacturing, Volume 3 written by Ali Zolfagharian and published by Elsevier. This book was released on 2024-07-25 with total page 429 pages. Available in PDF, EPUB and Kindle. Book excerpt: Smart Materials in Additive Manufacturing, Volume Three: 4D-Printed Robotic Materials, Sensors, and Actuators covers the principles, real-world use, and advances in the cutting-edge field of 4D printed smart robotic materials. It discusses the mechanics of these materials, techniques by which to manufacture them, and different applications. Detailed modeling and control techniques are outlined, illustrating their use in real-world settings. Shape memory polymers, hydrogels, shape memory alloys, biomaterials, natural fibers, dielectric elastomers, liquid crystal elastomers, electroactive polymers, and more materials are covered, featuring in-depth discussion of their responses to stimuli, fabrication, multi-physics modeling, control techniques, and applications. Discusses the design, modeling, simulation, and manufacturing processes of various 4D-printed robotic materials Outlines modeling and control techniques to illustrate the use of smart robotic materials Provides case studies demonstrating real-world situations where the techniques, materials, and concepts discussed have been successfully deployed Covers applications including robotics, metamaterials, micromachines, sensors, bioprinting, and actuators
Book Synopsis Introduction to Advanced Soft Robotics by : Juntian Qu
Download or read book Introduction to Advanced Soft Robotics written by Juntian Qu and published by Bentham Science Publishers. This book was released on 2024-07-31 with total page 285 pages. Available in PDF, EPUB and Kindle. Book excerpt: Introduction to Advanced Soft Robotics is an introductory textbook on soft body robotics. The content is designed to enable readers to better understand soft body robotics. Starting with an introduction to the subject, contents explain fundamental concepts such as perception and sensing, fabrication techniques and material design. These introductory chapters demonstrate the design concept and related design structures of soft robots from multiple perspectives, which can provide considerable design references for robotics learners and enthusiasts. Next, the book explains modeling and control for soft robotics and the applications. Key features of this book include easy-to-understand language and format, simple illustrations and a balanced overview of the subject (including a section on challenges and future prospects for soft robotics), and scientific references.
Book Synopsis Methodology for Designing and Manufacturing Complex Biologically Inspired Soft Robotic Fluidic Actuators by : Elliot Thompson-Bean
Download or read book Methodology for Designing and Manufacturing Complex Biologically Inspired Soft Robotic Fluidic Actuators written by Elliot Thompson-Bean and published by . This book was released on 2016 with total page 144 pages. Available in PDF, EPUB and Kindle. Book excerpt: A novel methodology for the design and manufacture of complex biologically inspired soft robotic fluidic actuators is presented. The methodology is applied to the design and manufacture of a prosthetic for the hand. This methodology is significant as it removes the need to perform complex ad hoc and in depth analysis of biological or soft robotic motions, when designing soft robots. This methodology provides a significant step towards developing more robust and complex, biologically inspired soft robots, with considerably improved performance. Real human hands are scanned to produce a 3D model of a finger, and pneumatic networks are implemented within it, to produce a biomimetic bending motion. The finger is then partitioned into material sections, and a genetic algorithm based optimization, using finite element analysis, is employed to discover the optimal material for each section. This is based on two biomimetic performance criteria. Two sets of optimizations using two material sets are performed. Promising optimized material arrangements are fabricated using two techniques to validate the optimization routine, and the fabricated and simulated results are compared. The optimization is successful in producing biomimetic soft robotic fingers, and fabrication of the fingers is possible. Limitations and paths for development are discussed. This methodology can be applied to other fluidic soft robotic devices. A study from the University of Auckland School of Psychology into the perception of soft robots is also assisted. Two soft robotic prosthetic fingers and one rigid prosthetic finger are fabricated, as well as a testing rig, to aid in the carrying out of experiments. The results reveal that stiffer soft robotic materials similar to SmoothSil 940, are better suited for the fabrication of fluidic soft robots, which are intended for applications involving interactions with human beings via touch, such as prosthetics. This project is funded by the New Zealand Artificial Limb Service. Thus, the end user of the prosthetic device is considered throughout the work, as both the physical and social and emotional features of a prosthetic for the hand, are addressed.
Book Synopsis Bioinspired Sensing, Actuation, and Control in Underwater Soft Robotic Systems by : Derek A. Paley
Download or read book Bioinspired Sensing, Actuation, and Control in Underwater Soft Robotic Systems written by Derek A. Paley and published by Springer Nature. This book was released on 2020-11-06 with total page 301 pages. Available in PDF, EPUB and Kindle. Book excerpt: This book includes representative research from the state‐of‐the‐art in the emerging field of soft robotics, with a special focus on bioinspired soft robotics for underwater applications. Topics include novel materials, sensors, actuators, and system design for distributed estimation and control of soft robotic appendages inspired by the octopus and seastar. It summarizes the latest findings in an emerging field of bioinspired soft robotics for the underwater domain, primarily drawing from (but not limited to) an ongoing research program in bioinspired autonomous systems sponsored by the Office of Naval Research. The program has stimulated cross‐disciplinary research in biology, material science, computational mechanics, and systems and control for the purpose of creating novel robotic appendages for maritime applications. The book collects recent results in this area.
Book Synopsis Additive Manufacturing of Compliant Mechanisms and Stretchable Sensors for Sensation, Grasping, and Locomotion in Soft Robotic Systems by : Kevin W. O'Brien
Download or read book Additive Manufacturing of Compliant Mechanisms and Stretchable Sensors for Sensation, Grasping, and Locomotion in Soft Robotic Systems written by Kevin W. O'Brien and published by . This book was released on 2020 with total page 118 pages. Available in PDF, EPUB and Kindle. Book excerpt: Soft robotic systems are inherently safe for human interaction and are able to perform useful tasks such as grasping or locomotion. Reliably producing the complex, monolithic, 3D structures necessary in these systems remains a challenge due to limitations in the available manufacturing methods. Historically, these systems have been made with molding, casting, stamping, and other techniques. Unfortunately, these methods are largely limited to 2D and thus inhibit the robots' potential complexity. Recent advances in 3D printing of elastomers and other low-modulus materials has enabled us to manufacture soft structures that were not obtainable just 5 years ago. Taking advantage of this leap in manufacturing capability, my work explores the improvements to soft actuators, sensors, and integrated robotic systems afforded by 3D printing. In the realm of soft actuators, I first describe the development of an entirely 3D printed continuously variable transmission which increases the output force of tendon-driven actuators by up to 3X without negatively impacting its unloaded speed. Additionally, I describe the development and characterization of a soft limb which uses tendon-routing variations to achieve complex motions and improved stiffness profiles. Further, I describe the development of haptic sensors by directly printing them using Direct Ink Writing, and by printing their structure for integration with off-the-shelf and molded components. Finally, I discuss the integration of these soft sensors and actuators in the development of two 3D-printed soft robotic systems: i) a hand which uses its reflexes to catch a ball and crush a can, ii) a crawling robot which demonstrates improved locomotion due to complex tendon routing schemes, and iii) an optoelectronically innervated soft prosthetic hand which can detect softness and shape.
Book Synopsis Building and Controlling Fluidically Actuated Soft Robots by : Robert Kevin Katzschmann
Download or read book Building and Controlling Fluidically Actuated Soft Robots written by Robert Kevin Katzschmann and published by . This book was released on 2018 with total page 272 pages. Available in PDF, EPUB and Kindle. Book excerpt: This thesis describes the creation and control of soft robots made of deformable elastomer materials and powered by fluidics. We embed soft fluidic actuators into self-contained soft robotic systems, such as fish for underwater exploration or soft arms for dynamic manipulation. We present models describing the physical characteristics of these continuously deformable and fully soft robots, and then leverage these models for motion planning and closed-loop feedback control in order to realize quasi-static manipulation, dynamic arm motions, and dynamic interactions with an environment. The design and fabrication techniques for our soft robots include the development of soft actuator morphologies, soft casting techniques, and closed-circuit pneumatic and hydraulic powering methods. With a modular design approach, we combine these soft actuator morphologies into robotic systems. We create a robotic fish for underwater locomotion, as well as multi-finger hands and multi-segment arms for use in object manipulation and interaction with an environment. The robotic fish uses a soft hydraulic actuator as its deformable tail to perform open-loop controlled swimming motions through cyclic undulation. The swimming movement is achieved by a custom-made displacement pump and a custom-made buoyancy control unit, all embedded within the soft robotic fish. The fish robot receives high-level control commands via acoustic signals to move in marine environments. The control of the multi-segment arms is enabled by models describing the geometry, kinematics, impedance, and dynamics. We use the models for quasi-static closed-loop control and dynamic closed-loop control. The quasi-static controllers work in combination with the kinematic models and geometric motion planners to enable the soft arms to move in confined spaces, and to autonomously perform object grasping. Leveraging the models for impedance and dynamics, we also demonstrate dynamic arm motions and end-effector interactions of the arm with an environment. Our dynamic model allows the application of control techniques developed for rigid robots to the dynamic control of soft robots. The resulting model-based closed-loop controllers enable dynamic curvature tracking as well as surface tracing in Cartesian space.
Book Synopsis Soft Matter for Biomedical Applications by : Dr Helena S Azevedo
Download or read book Soft Matter for Biomedical Applications written by Dr Helena S Azevedo and published by Royal Society of Chemistry. This book was released on 2021-06-11 with total page 788 pages. Available in PDF, EPUB and Kindle. Book excerpt: Dynamic soft materials that have the ability to expand and contract, change stiffness, self-heal or dissolve in response to environmental changes, are of great interest in applications ranging from biosensing and drug delivery to soft robotics and tissue engineering. This book covers the state-of-the-art and current trends in the very active and exciting field of bioinspired soft matter, its fundamentals and comprehension from the structural-property point of view, as well as materials and cutting-edge technologies that enable their design, fabrication, advanced characterization and underpin their biomedical applications. The book contents are supported by illustrated examples, schemes, and figures, offering a comprehensive and thorough overview of key aspects of soft matter. The book will provide a trusted resource for undergraduate and graduate students and will extensively benefit researchers and professionals working across the fields of chemistry, biochemistry, polymer chemistry, materials science and engineering, nanosciences, nanotechnologies, nanomedicine, biomedical engineering and medical sciences.
Book Synopsis Soft Materials for Soft Robots by : Yang Wang
Download or read book Soft Materials for Soft Robots written by Yang Wang and published by . This book was released on 2022 with total page 0 pages. Available in PDF, EPUB and Kindle. Book excerpt: Comparing with traditional robotic design based rigid materials, soft material based robotic design shows unique advantages such as large deformation and great compatibility for many applications such as human-machine-interfaces. The field of soft robotics has witnessed numerous growths of new designs of soft actuators and soft sensors. Even though they show the great uniqueness of using soft materials but many of them do not have a comprehensive performance to adapt to different complex scenarios. Therefore, we came with material-level designs using soft smart materials, such as liquid crystal elastomers and hydrogels, to address this challenge. In this dissertation, we first designed and fabricated an electrically controlled soft actuator with multiple and reprogrammable actuation modes, and then demonstrated a reusable and general-purpose soft actuator which can meet various requirements in constructing new soft active devices. Secondly, we developed an integrated artificial motor unit based on gold-coated ultrathin liquid crystal elastomer (LCE) film. Due to the small thermal inertial of the ultrathin LCE structure, its cyclic actuation speed is fast and easily controllable. We showed that under electrical stimulation, the actuation strain of the LCE-based motor unit reaches 45%, strain rate is as high as 750 %/s, and the output power density is as high as 1360 W/kg. Lastly, we developed a transparent and stretchable hydrogel-based ionic diode based on doped polyacrylamide hydrogels. Using the ionic diode, we further successfully constructed two types of ionic logic gates, which can potentially be used as soft sensors. We hope the material-based designs of soft actuators and soft sensors we developed in this dissertation can be used as the basic functional elements for advanced and integrated soft robotic systems.
Book Synopsis Encyclopedia of Biomedical Engineering by :
Download or read book Encyclopedia of Biomedical Engineering written by and published by Elsevier. This book was released on 2018-09-01 with total page 2069 pages. Available in PDF, EPUB and Kindle. Book excerpt: Encyclopedia of Biomedical Engineering, Three Volume Set is a unique source for rapidly evolving updates on topics that are at the interface of the biological sciences and engineering. Biomaterials, biomedical devices and techniques play a significant role in improving the quality of health care in the developed world. The book covers an extensive range of topics related to biomedical engineering, including biomaterials, sensors, medical devices, imaging modalities and imaging processing. In addition, applications of biomedical engineering, advances in cardiology, drug delivery, gene therapy, orthopedics, ophthalmology, sensing and tissue engineering are explored. This important reference work serves many groups working at the interface of the biological sciences and engineering, including engineering students, biological science students, clinicians, and industrial researchers. Provides students with a concise description of the technologies at the interface of the biological sciences and engineering Covers all aspects of biomedical engineering, also incorporating perspectives from experts working within the domains of biomedicine, medical engineering, biology, chemistry, physics, electrical engineering, and more Contains reputable, multidisciplinary content from domain experts Presents a ‘one-stop’ resource for access to information written by world-leading scholars in the field
Book Synopsis 2019 2nd IEEE International Conference on Soft Robotics (RoboSoft) by : IEEE Staff
Download or read book 2019 2nd IEEE International Conference on Soft Robotics (RoboSoft) written by IEEE Staff and published by . This book was released on 2019-04-14 with total page pages. Available in PDF, EPUB and Kindle. Book excerpt: Soft robotics is a recent exciting trend of robotics, taking the challenge of using soft materials and deformable structures for building robots, with high potential for impact in science and in applications Given the young and fast growing area and the lively interdisciplinary community that grew around soft robotics, the RoboSoft international conference aims at presenting recent progresses in this field, for discussing new science, new technologies and new opportunities for applications
Book Synopsis Design and Fabrication of Fabric Reinforced Textile Actuators for Soft Robotic Graspers by : Francisco Javier Lopez Arellano
Download or read book Design and Fabrication of Fabric Reinforced Textile Actuators for Soft Robotic Graspers written by Francisco Javier Lopez Arellano and published by . This book was released on 2019 with total page 56 pages. Available in PDF, EPUB and Kindle. Book excerpt: Wearable assistive devices have been greatly improved thanks to advancements made in soft robotics, even creation soft extra arms for paralyzed patients. Grasping remains an active area of research of soft extra limbs. Soft robotics allow the creation of grippers that due to their inherit compliance making them lightweight, safer for human interactions, more robust in unknown environments and simpler to control than their rigid counterparts. A current problem in soft robotics is the lack of seamless integration of soft grippers into wearable devices, which is in part due to the use of elastomeric materials used for the creation of most of these grippers. This work introduces fabric-reinforced textile actuators (FRTA). The selection of materials, design logic of the fabric reinforcement layer and fabrication method are discussed. The relationship between the fabric reinforcement characteristics and the actuator deformation is studied and experimentally verified. The FRTA are made of a combination of a hyper-elastic fabric material with a stiffer fabric reinforcement on top. In this thesis, the design, fabrication, and evaluation of FRTAs are explored. It is shown that by varying the geometry of the reinforcement layer, a variety of motion can be achieve such as axial extension, radial expansion, bending, and twisting along its central axis. Multi-segmented actuators can be created by tailoring different sections of fabric-reinforcements together in order to generate a combination of motions to perform specific tasks. The applicability of this actuators for soft grippers is demonstrated by designing and providing preliminary evaluation of an anthropomorphic soft robotic hand capable of grasping daily living objects of various size and shapes.
