Abstract
This paper presents the kinetostatic analysis of pneumatic bending soft actuator coupling with revolute joint, aimed to discover the bending performance of soft actuator wearing on physical joint of human body as exoskeleton. First, a new pneumatic bidirectional bending soft actuator is designed and its mechanical characteristic is obtained by experimental tests. Then, the kinetostatic analysis based on the principle of virtual work is conducted on the proposed soft actuator in the cases of bending alone and coupling with revolute joint. Finally, the kinetostatic equations are solved, and thus the bending performance of the soft actuator bending alone or coupling with revolute joint is obtained. This research mainly reveals the influence of coupling constraint on bending motions of soft actuator and lays a theoretical foundation for the pneumatic bending soft actuator to be applied in assist exoskeletons.
Issue Section:
Research Papers
References
1.
Marchese
, A. D.
, Katzschmann
, R. K.
, and Rus
, D.
, 2015
, “A Recipe for Soft Fluidic Elastomer Robots
,” Soft Robot.
, 2
(1
), pp. 7
–25
. 2.
Yap
, H. K.
, Khin
, P. M.
, Koh
, T. H.
, Sun
, Y.
, Liang
, X.
, Lim
, J. H.
, and Yeow
, C.-H.
, 2017
, “A Fully Fabric-Based Bidirectional Soft Robotic Glove for Assistance and Rehabilitation of Hand Impaired Patients
,” IEEE Robot. Autom. Lett.
, 2
(3
), pp. 1383
–1390
. 3.
Rodrigue
, H.
, Wang
, W.
, Han
, M.-W.
, Kim
, T. J.
, and Ahn
, S.-H.
, 2017
, “An Overview of Shape Memory Alloy-Coupled Actuators and Robots
,” Soft Robot.
, 4
(1
), pp. 3
–15
. 4.
O’Halloran
, A.
, O’malley
, F.
, and McHugh
, P.
, 2008
, “A Review on Dielectric Elastomer Actuators, Technology, Applications, and Challenges
,” J. Appl. Phys.
, 104
(7
), p. 9
.5.
Rus
, D.
, and Tolley
, M. T.
, 2015
, “Design, Fabrication and Control of Soft Robots
,” Nature
, 521
(7553
), pp. 467
–475
. 6.
Cianchetti
, M.
, Laschi
, C.
, Menciassi
, A.
, and Dario
, P.
, 2018
, “Biomedical Applications of Soft Robotics
,” Nat. Rev. Mater.
, 3
(6
), pp. 143
–153
. 7.
Wehner
, M.
, Quinlivan
, B.
, Aubin
, P. M.
, Martinez-Villalpando
, E.
, Baumann
, M.
, Stirling
, L.
, Holt
, K.
, Wood
, R.
, and Walsh
, C.
, 2013
, “A Lightweight Soft Exosuit for Gait Assistance
,” 2013 IEEE International Conference on Robotics and Automation
, Karlsruhe, Germany
, May 6–10
, IEEE
, pp. 3362
–3369
.8.
Al-Fahaam
, H.
, Davis
, S.
, and Nefti-Meziani
, S.
, 2018
, “The Design and Mathematical Modelling of Novel Extensor Bending Pneumatic Artificial Muscles (EBPAMs) for Soft Exoskeletons
,” Robot. Auton. Syst.
, 99
, pp. 63
–74
. 9.
Wang
, J.
, Liu
, Z.
, and Fei
, Y.
, 2019
, “Design and Testing of a Soft Rehabilitation Glove Integrating Finger and Wrist Function
,” ASME J. Mech. Rob.
, 11
(1
), p. 011015
. 10.
Wang
, J.
, Fei
, Y.
, and Chen
, W.
, 2020
, “Integration, Sensing, and Control of a Modular Soft-Rigid Pneumatic Lower Limb Exoskeleton
,” Soft Robot.
, 7
(2
), pp. 140
–154
. 11.
Al-Fahaam
, H.
, Davis
, S.
, and Nefti-Meziani
, S.
, 2016
, “Wrist Rehabilitation Exoskeleton Robot Based on Pneumatic Soft Actuators
,” 2016 International Conference for Students on Applied Engineering (ICSAE)
, Newcastle upon Tyne, Tyne and Wear, UK
, Oct. 20–21
, IEEE
, pp. 491
–496
.12.
Thalman
, C. M.
, Lam
, Q. P.
, Nguyen
, P. H.
, Sridar
, S.
, and Polygerinos
, P.
, 2018
, “A Novel Soft Elbow Exosuit to Supplement Bicep Lifting Capacity
,” 2018 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)
, Madrid, Spain
, Oct. 1–5
, IEEE
, pp. 6965
–6971
.13.
Wang
, J.
, Fei
, Y.
, and Pang
, W.
, 2019
, “Design, Modeling, and Testing of a Soft Pneumatic Glove With Segmented Pneunets Bending Actuators
,” IEEE/ASME Trans. Mechatron.
, 24
(3
), pp. 990
–1001
. 14.
Polygerinos
, P.
, Wang
, Z.
, Overvelde
, J. T.
, Galloway
, K. C.
, Wood
, R. J.
, Bertoldi
, K.
, and Walsh
, C. J.
, 2015
, “Modeling of Soft Fiber-Reinforced Bending Actuators
,” IEEE Trans. Robot.
, 31
(3
), pp. 778
–789
. 15.
Wu
, G.
, Van der Helm
, F. C.
, Veeger
, H. D.
, Makhsous
, M.
, Van Roy
, P.
, Anglin
, C.
, Nagels
, J.
, Karduna
, A. R.
, McQuade
, K.
, Wang
, X.
, and Werner
, F. W.
, 2005
, “ISB Recommendation on Definitions of Joint Coordinate Systems of Various Joints for the Reporting of Human Joint Motion—Part Ii: Shoulder, Elbow, Wrist and Hand
,” J. Biomech.
, 38
(5
), pp. 981
–992
. 16.
Polygerinos
, P.
, Wang
, Z.
, Galloway
, K. C.
, Wood
, R. J.
, and Walsh
, C. J.
, 2015
, “Soft Robotic Glove for Combined Assistance and At-Home Rehabilitation
,” Robot. Auton. Syst.
, 73
, pp. 135
–143
. 17.
Tang
, Y.
, Chi
, Y.
, Sun
, J.
, Huang
, T.-H.
, Maghsoudi
, O. H.
, Spence
, A.
, Zhao
, J.
, Su
, H.
, and Yin
, J.
, 2020
, “Leveraging Elastic Instabilities for Amplified Performance: Spine-Inspired High-Speed and High-Force Soft Robots
,” Sci. Adv.
, 6
(19
), p. eaaz6912
. 18.
Chen
, W.
, Xiong
, C.
, Liu
, C.
, Li
, P.
, and Chen
, Y.
, 2019
, “Fabrication and Dynamic Modeling of Bidirectional Bending Soft Actuator Integrated With Optical Waveguide Curvature Sensor
,” Soft Robot.
, 6
(4
), pp. 495
–506
. 19.
Wang
, Z.
, Polygerinos
, P.
, Overvelde
, J. T.
, Galloway
, K. C.
, Bertoldi
, K.
, and Walsh
, C. J.
, 2016
, “Interaction Forces of Soft Fiber Reinforced Bending Actuators
,” IEEE/ASME Trans. Mechatron.
, 22
(2
), pp. 717
–727
. Copyright © 2023 by ASME
You do not currently have access to this content.
