scholarly journals Machine-Knitted Seamless Pneumatic Actuators for Soft Robotics: Design, Fabrication, and Characterization

Actuators ◽  
2021 ◽  
Vol 10 (5) ◽  
pp. 94
Author(s):  
Hend M. Elmoughni ◽  
Ayse Feyza Yilmaz ◽  
Kadir Ozlem ◽  
Fidan Khalilbayli ◽  
Leonardo Cappello ◽  
...  
Keyword(s):  
Assistive Devices ◽  
Soft Robotics ◽  
Fabrication Technology ◽  
Pneumatic Actuators ◽  
Hand Grip ◽  
Bending Actuator ◽  
Fabrication And Characterization ◽  
Manufacturing Techniques ◽  
Robotics Design ◽  
First Time

Computerized machine knitting offers an attractive fabrication technology for incorporating wearable assistive devices into garments. In this work, we utilized, for the first time, whole-garment knitting techniques to manufacture a seamless fully knitted pneumatic bending actuator, which represents an advancement to existing cut-and-sew manufacturing techniques. Various machine knitting parameters were investigated to create anisotropic actuator structures, which exhibited a range of bending and extension motions when pressurized with air. The functionality of the actuator was demonstrated through integration into an assistive glove for hand grip action. The achieved curvature range when pressurizing the actuators up to 150 kPa was sufficient to grasp objects down to 3 cm in diameter and up to 125 g in weight. This manufacturing technique is rapid and scalable, paving the way for mass-production of customizable soft robotics wearables.

scholarly journals Additive Manufacturing of Flexible Material for Pneumatic Actuators Application

Actuators ◽  
2021 ◽  
Vol 10 (7) ◽  
pp. 161
Author(s):  
Miranda Fateri ◽  
João Falcão Carneiro ◽  
Achim Frick ◽  
João Bravo Pinto ◽  
Fernando Gomes de Almeida
Keyword(s):  
Material Properties ◽  
Thermoplastic Polyurethane ◽  
Scanning Calorimetry ◽  
Pneumatic Actuators ◽  
Geometry Design ◽  
Flexible Material ◽  
Layer Manufacturing ◽  
Thermoplastic Polyurethane Elastomer ◽  
Manufacturing Techniques ◽  
Circular Design

In this paper, endurance of peristaltic linear pneumatic actuators was studied using different hose geometries. Towards this goal, different hose geometries were additively manufactured using Fused Layer Manufacturing techniques of Thermoplastic Polyurethane Elastomer. Material properties of the elastomer were studied using Differential Scanning Calorimetry and the tensile test. The relations between the sample’s print temperature and build direction on the actuator endurance were investigated. Lastly, the relation between the geometry design of the PLPA actuator and its endurance is also discussed. Based on this methodology, authors present results showing that the use of a customized shaped hose with geometrical reinforcement at sides leads to a considerable rise in the hose endurance, when compared with the conventional circular design.

Design and Characterization of Edible Soft Robotic Candy Actuators

MRS Advances ◽  
2018 ◽  
Vol 3 (50) ◽  
pp. 3003-3009 ◽  
Author(s):  
Aditya N. Sardesai ◽  
Xavier M. Segel ◽  
Matthew N. Baumholtz ◽  
Yiheng Chen ◽  
Ruhao Sun ◽  
...  
Keyword(s):  
High School ◽  
The Body ◽  
Soft Robotics ◽  
Compression Tests ◽  
Pneumatic Actuators ◽  
School Division ◽  
Biologically Relevant ◽  
Elementary Aged Children ◽  
Design Competition ◽  
Robotic Devices

ABSTRACTOne of the goals of soft robotics is the ability to interface with the human body. Traditionally, silicone materials have dominated the field of soft robotics. In order to shift to materials that are more compatible with the body, developments will have to be made into biodegradable and biocompatible soft robots. This investigation focused on developing gummy actuators which are biodegradable, edible, and tasty. Creating biodegradable and edible actuators can be both sold as an interactive candy product and also inform the design of implantable soft robotic devices. First, commercially available gelatin-based candies were recast into pneumatic actuators utilizing molds. Edible robotic devices were pneumatically actuated repeatedly (up to n=8 actuations) using a 150 psi power inflator. To improve upon the properties of actuators formed from commercially available candy, a novel gelatin-based formulation, termed the “Fordmula” was also developed and used to create functional actuators. To investigate the mechanics and functionality of the recast gummy material and the Fordmula, compression testing and biodegradation studies were performed. Mechanical compression tests showed that recast gummy materials had similar properties to commercially available candies and at low strain had similar behavior to traditional silicone materials. Degradation studies showed that actuation was possible within 15 minutes in a biologically relevant solution followed by complete dissolution of the actuator afterwards. A taste test with elementary aged children demonstrated the fun, edible, and educational appeal of the candy actuators. Edible actuator development was an entry and winning submission in the High School Division of the Soft Robotics Toolkit Design Competition hosted by Harvard University. Demonstration of edible soft robotic actuators created by middle and high school aged students shows the applicability of the Soft Robotics Toolkit for K12 STEM education.

Novel Accordion-Inspired Foldable Pneumatic Actuators for Knee Assistive Devices

Soft Robotics ◽  
2020 ◽  
Vol 7 (1) ◽  
pp. 95-108 ◽  
Author(s):  
Jing Fang ◽  
Jianping Yuan ◽  
Mingming Wang ◽  
Liangfeng Xiao ◽  
Jiasheng Yang ◽  
...  
Keyword(s):  
Assistive Devices ◽  
Pneumatic Actuators

scholarly journals ON THE STUDY OF THE MANUFACTURING TECHNIQUES DEALS WITH THE CERAMICS OF THE MAIKOP- NOVOSVOBODNAYA COMMUNITY BY THE METHOD OF. A. A. BOBRINSKY AND NEW EXPERIMENTS

2015 ◽  
Vol 4 (4) ◽  
pp. 59-71
Author(s):  
Sergey Nikolaevich Korenevskiy ◽  
Andrey Sergeevich Kizilov
Keyword(s):  
Surface Treatment ◽  
Raw Materials ◽  
Flat Bottom ◽  
Axis Of Rotation ◽  
Fixed Axis ◽  
Manufacturing Techniques ◽  
First Time

The article presents a brief synthesis of the results deal with the study of ceramics Maikop-novosvobodnaya community using the method of a. a. Bobrinsky and use of the microscope with 12 times magnification. it sets out ideas about raw materials, methods of construction, surface treatment. especially emphasized the problem of the use by the ancient potters of rotary devices. For the first time about such vessels were noted in the work of a. a. Bobrinsky and r. M. Munchaev in 1966, for example, vessels with a flat bottom. at present a series of examples of traces deal with use of rotary devices has expanded. in the article by a. s. Kizilov shows the simulation of the vessel of the Maikop culture and fixation of the traces of its turn without a fixed axis of rotation and with a non-fixed environment of rotation. as a result, the actual doing of those and other traces that prove the use of Maikop potters rotary devices with a fixed axis of rotation in the manufacture of vessels not only flat, but round bottom too.

Evolutionary Soft Robotics

Impact ◽  
2019 ◽  
Vol 2019 (10) ◽  
pp. 9-11
Author(s):  
Jun Ogawa
Keyword(s):  
Artificial Intelligence ◽  
Drug Delivery ◽  
Soft Matter ◽  
Associate Professor ◽  
Assistive Devices ◽  
Artificial Organs ◽  
Soft Robotics ◽  
Elastic Materials ◽  
Non Invasive ◽  
Living Organisms

Soft robotics is a subfield of robots that deals with constructing robots from soft, elastic materials similar to those found in living organisms. These robots offer a particular set of advantages compared with conventional rigid robots. For example, in medicine they can be used in drug delivery and non-invasive surgical procedures, and be employed as assistive devices, prostheses or artificial organs. The field takes great inspiration from the way living organisms move and adapt to their surroundings, and the flexibility and adaptability of soft robots make them invaluable tools. Dr Jun Ogawa is an Associate Professor in the Institute of Organic Materials at Yamagata University, Japan. His key research interests are soft matter robotics and embodied artificial intelligence (AI).

Tunable Triangular Cellular Structures by Pneumatic Control of Dual Channel Actuators

2017 ◽  
Author(s):  
Zhihao Yuan ◽  
Jaehyung Ju
Keyword(s):  
Fast Response ◽  
Local Deformation ◽  
Pattern Generation ◽  
Cellular Structures ◽  
Soft Robotics ◽  
Acoustic Metamaterials ◽  
Programmable Matter ◽  
Intelligent Materials ◽  
Pneumatic Actuators ◽  
Pneumatic Control

Programmable matter, a material whose properties can be programmed to achieve desired density with volume change, shapes or structural properties (stiffness, strength, Poisson’s ratio, etc.) upon command, is an important technology for intelligent materials. Recently emerging soft robotics-based pneumatic control can be potentially used for the design of programmable matter due to its several advantages — quick response for actuation, stiffening effect with internal air pressure, easy to manufacture, inexpensive materials, etc. The objective of this work is to construct programmable two-dimensional (2D) cellular structures with pneumatic actuators, investigating the effect of local deformation of the pneumatic actuators on the macroscopic pattern generation and mechanical properties of cellular structures. We synthesize 2D soft triangular structures with pneumatic actuators embedding dual air channels wrapped with fiber reinforcement. The local deformation modes provide different macroscopic deformations of cellular structures. We build an analytical model integrating the deformation of a single actuating member with nonlinear deformation of cellular structures. Finite element based simulations and experimental validation are followed. This study integrates soft robotics with cellular structures for intelligent materials design, expanding the design space of materials with programming. The fast response of the tunable soft cellular structures may be an ideal for the application of acoustic metamaterials with tunable band gaps.

scholarly journals Performance Optimization of Polymer Fibre Actuators for Soft Robotics

Polymers ◽  
2020 ◽  
Vol 12 (2) ◽  
pp. 454 ◽  
Author(s):  
Ivan D. Rukhlenko ◽  
Syamak Farajikhah ◽  
Charles Lilley ◽  
Andre Georgis ◽  
Maryanne Large ◽  
...  
Keyword(s):  
Cross Sections ◽  
Performance Optimization ◽  
Analytical Calculation ◽  
Design Guidelines ◽  
Soft Robotics ◽  
Positive Pressure ◽  
Cross Sectional ◽  
Bending Angle ◽  
Pneumatic Actuators ◽  
Wide Range

Analytical modeling of soft pneumatic actuators constitutes a powerful tool for the systematic design and characterization of these key components of soft robotics. Here, we maximize the quasi-static bending angle of a soft pneumatic actuator by optimizing its cross-section for a fixed positive pressure inside it. We begin by formulating a general theoretical framework for the analytical calculation of the bending angle of pneumatic actuators with arbitrary cross-sections, which is then applied to an actuator made of a circular polymer tube and an asymmetric patch in the shape of a hollow-cylinder sector on its outer surface. It is shown that the maximal bending angle of this actuator can be achieved using a wide range of patches with different optimal dimensions and approximately the same cross-sectional area, which decreases with pressure. We also calculate the optimal dimensions of thin and small patches in thin pneumatic actuators. Our analytical results lead to clear design guidelines, which may prove useful for engineering and optimization of the key components of soft robotics with superior features.

scholarly journals Soft Robotics: Miniature Pneumatic Actuators for Soft Robots by High‐Resolution Multimaterial 3D Printing (Adv. Mater. Technol. 10/2019)

2019 ◽  
Vol 4 (10) ◽  
pp. 1970054
Author(s):  
Yuan‐Fang Zhang ◽  
Colin Ju‐Xiang Ng ◽  
Zhe Chen ◽  
Wang Zhang ◽  
Sahil Panjwani ◽  
...  
Keyword(s):  
High Resolution ◽  
3D Printing ◽  
Soft Robotics ◽  
Soft Robots ◽  
Pneumatic Actuators

Nonvolatile resistive memories utilizing functional PES-based supramolecular film

2017 ◽  
Vol 30 (9) ◽  
pp. 1056-1063 ◽  
Author(s):  
Hejing Sun ◽  
Haibo Zhang ◽  
Zheng Chen ◽  
Jinhui Pang ◽  
Cong Gao ◽  
...  
Keyword(s):  
Hydrogen Bonding ◽  
High Performance ◽  
Memory Device ◽  
Memory Devices ◽  
Resistive Switching Memory ◽  
Threshold Voltages ◽  
High Performance Polymer ◽  
Fabrication And Characterization ◽  
First Time

This study reports the fabrication and characterization of polymer resistive switching memory devices fabricated from poly(ether sulfone)s (PESs), containing carboxylic functional groups for hydrogen bonding with disperse red 1. PES-based supramolecular memory devices exhibited write-once read-many-times-type memory effects, with low switching threshold voltages below −5.0 V and high ON/OFF current ratios of 105. It is the first time that the concept of azobenzene supramolecular PES based on hydrogen bonding for electrical memory device application was investigated. A possible switching mechanism based on the charge transfer interaction was proposed through molecular simulation, optical absorption, and cyclic voltammetry. These results render the PES-based supramolecular memory devices as promising components for high-performance polymer memory devices.

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