Geometry-based customization of bending modalities for 3D-printed soft pneumatic actuators

Rosalia, L., Wee-Keong Ang, B. and Yeow, C.-H. (2018) Geometry-based customization of bending modalities for 3D-printed soft pneumatic actuators. IEEE Robotics and Automation Letters, 3(4), pp. 3489-3496. (doi: 10.1109/LRA.2018.2853640)

Abstract

In this work, we propose a novel type of 3D-printed soft pneumatic actuator that allows geometry-based customization of bending modalities. While motion in the 3D-space has been achieved for several types of soft actuators, only 2D-bending has been previously modelled and characterized within the scope of 3D-printed soft pneumatic actuators. We developed the first type of 3D-printed soft pneumatic actuator which, by means of the unique feature of customizable cubes at an angle with the longitudinal axis of the structure, is capable of helical motion. Thus, we characterize its mechanical behavior and formulate mathematical and FEA models to validate the experimental results. Variation to the pattern of the inclination angle along the actuator is then demonstrated to allow for complex 3D-bending modalities and the main applications in the fields of object manipulation and wearable robotics are finally discussed.

• Item Type: Articles
• Status: Published
• Refereed: Yes
• Glasgow Author(s) Enlighten ID: Rosalia, Mr Luca
• Authors: Rosalia, L., Wee-Keong Ang, B., and Yeow, C.-H.
• College/School: College of Science and Engineering > School of Engineering
• Journal Name: IEEE Robotics and Automation Letters
• Publisher: IEEE
• ISSN: 2377-3774
• ISSN (Online): 2377-3766
• Published Online: 06 July 2018
• Copyright Holders: Copyright © 2018 IEEE
• First Published: First published in IEEE Robotics and Automation Letters 3(4): 3489-3496
• Publisher Policy: Reproduced in accordance with the publisher copyright policy