Marionette-based programming of a soft textile inflatable actuator

被引：12

作者：

Nassour, John ^{[1
]}

机构：

[1] Tech Univ Chemnitz, Dept Comp Sci, Artificial Intelligence, Chemnitz, Germany

来源：

SENSORS AND ACTUATORS A-PHYSICAL | 2019年 / 291卷

关键词：

DESIGN;

D O I：

10.1016/j.sna.2019.03.017

中图分类号：

TM [电工技术]; TN [电子技术、通信技术];

学科分类号：

0808 ; 0809 ;

摘要：

Soft inflatable actuators show several advantages in flexible and versatile behaviours. A wide range of motions such as bending, expanding and twisting motions has been obtained by introducing oblique structures in silicon-based actuators. However, this mechanical programming allows an actuator to generate one single behaviour while inflated. In this paper we propose an online programming of behaviour of a soft textile inflatable actuator. Four strings are attached to the tip of the actuator and travelling through its longitudinal axis to the fixed side where they are pulled with different tension forces. The applied forces on all strings define the actuator behaviour when inflated. Bending in different directions, twisting, and elongation behaviours were generated online by varying the strings pulling forces and the air pressure of the actuator. (C) 2019 Elsevier B.V. All rights reserved.

引用

页码：93 / 98

页数：6

共 14 条

[1] Stronger, Smarter, Softer Next-Generation Wearable Robots [J].

Asbeck, Alan T. ;

De Rossi, Stefano M. M. ;

Galiana, Ignacio ;

Ding, Ye ;

Walsh, Conor J. .

IEEE ROBOTICS & AUTOMATION MAGAZINE, 2014, 21 (04) :22-33

[2] Exploiting Textile Mechanical Anisotropy for Fabric-Based Pneumatic Actuators [J].

Cappello, Leonardo ;

Galloway, Kevin C. ;

Sanan, Siddharth ;

Wagner, Diana A. ;

Granberry, Rachael ;

Engelhardt, Sven ;

Haufe, Florian L. ;

Peisner, Jeffrey D. ;

Walsh, Conor J. .

SOFT ROBOTICS, 2018, 5 (05) :662-674

[3] Mechanical Programming of Soft Actuators by Varying Fiber Angle [J].

Connolly, Fionnuala ;

Polygerinos, Panagiotis ;

Walsh, Conor J. ;

Bertoldi, Katia .

SOFT ROBOTICS, 2015, 2 (01) :26-32

[4]

in H. K., 2015, IEEE ROBOTICS AUTOMA, V22, P97, DOI DOI 10.1109/MRA.2014.2362863

[5] Kinematics for multisection continuum robots [J].

Department of Electrical and Computer Engineering, Mississippi State University, Missippi State, MS 39762, United States ;

不详 .

IEEE Trans. Rob., 2006, 1 (43-55)

[6] A Soft Exosuit for Flexible Upper-Extremity Rehabilitation [J].

Lessard, Steven ;

Pansodtee, Pattawong ;

Robbins, Ash ;

Trombadore, James M. ;

Kurniawan, Sri ;

Teodorescu, Mircea .

IEEE TRANSACTIONS ON NEURAL SYSTEMS AND REHABILITATION ENGINEERING, 2018, 26 (08) :1604-1617

[7]

Masia L, 2018, IET CONTR ROBOT SENS, V108, P219, DOI 10.1049/PBCE108E_ch10

[8]

Polygerinos P, 2015, INT C REHAB ROBOT, P55, DOI 10.1109/ICORR.2015.7281175

[9] Soft Pneumatic Actuator Fascicles for High Force and Reliability [J].

Robertson, Matthew A. ;

Sadeghi, Hamed ;

Florez, Juan Manuel ;

Paik, Jamie .

SOFT ROBOTICS, 2017, 4 (01) :23-32

[10]

Thalman CM, 2018, IEEE INT C INT ROBOT, P6965, DOI 10.1109/IROS.2018.8594403

← 1 2 →