Design and Characterization of Soft Fabric Omnidirectional Bending Actuators

Soft robots, inspired by biological adaptability, can excel where rigid robots may falter and offer flexibility and safety for complex, unpredictable environments. In this paper, we present the Omnidirectional Bending Actuator (OBA), a soft robotic actuation module which is fabricated from off-the-s...
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Autor*in:	Kyungjoon Lee [verfasserIn] Khulan Bayarsaikhan [verfasserIn] Gabriel Aguilar [verfasserIn] Jonathan Realmuto [verfasserIn] Jun Sheng [verfasserIn]

Format:	E-Artikel
Sprache:	Englisch

Erschienen:	2024

Schlagwörter:	knittedfabrics robot module continuum robots soft robots pneumatic actuator omnidirectional actuator

Übergeordnetes Werk:	In: Actuators - MDPI AG, 2013, 13(2024), 3, p 112
Übergeordnetes Werk:	volume:13 ; year:2024 ; number:3, p 112

Links:	Link aufrufen Link aufrufen Link aufrufen Journal toc

DOI / URN:	10.3390/act13030112

Katalog-ID:	DOAJ100891942

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callnumber-first	T - Technology
author	Kyungjoon Lee
spellingShingle	Kyungjoon Lee misc TA401-492 misc TK1001-1841 misc knittedfabrics misc robot module misc continuum robots misc soft robots misc pneumatic actuator misc omnidirectional actuator misc Materials of engineering and construction. Mechanics of materials misc Production of electric energy or power. Powerplants. Central stations Design and Characterization of Soft Fabric Omnidirectional Bending Actuators
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topic_title	TA401-492 TK1001-1841 Design and Characterization of Soft Fabric Omnidirectional Bending Actuators knittedfabrics robot module continuum robots soft robots pneumatic actuator omnidirectional actuator
topic	misc TA401-492 misc TK1001-1841 misc knittedfabrics misc robot module misc continuum robots misc soft robots misc pneumatic actuator misc omnidirectional actuator misc Materials of engineering and construction. Mechanics of materials misc Production of electric energy or power. Powerplants. Central stations
topic_unstemmed	misc TA401-492 misc TK1001-1841 misc knittedfabrics misc robot module misc continuum robots misc soft robots misc pneumatic actuator misc omnidirectional actuator misc Materials of engineering and construction. Mechanics of materials misc Production of electric energy or power. Powerplants. Central stations
topic_browse	misc TA401-492 misc TK1001-1841 misc knittedfabrics misc robot module misc continuum robots misc soft robots misc pneumatic actuator misc omnidirectional actuator misc Materials of engineering and construction. Mechanics of materials misc Production of electric energy or power. Powerplants. Central stations
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title	Design and Characterization of Soft Fabric Omnidirectional Bending Actuators
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title_full	Design and Characterization of Soft Fabric Omnidirectional Bending Actuators
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title_sort	design and characterization of soft fabric omnidirectional bending actuators
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title_auth	Design and Characterization of Soft Fabric Omnidirectional Bending Actuators
abstract	Soft robots, inspired by biological adaptability, can excel where rigid robots may falter and offer flexibility and safety for complex, unpredictable environments. In this paper, we present the Omnidirectional Bending Actuator (OBA), a soft robotic actuation module which is fabricated from off-the-shelf materials with easy scalability and consists of three pneumatic chambers. Distinguished by its streamlined manufacturing process, the OBA is capable of bending in all directions with a high force-to-weight ratio, potentially addressing a notable research gap in knit fabric actuators with multi-degree-of-freedom capabilities. We will present the design and fabrication of the OBA, examine its motion and force capabilities, and demonstrate its capability for stiffness modulation and its ability to maintain set configurations under loads. The mass of the entire actuation module is 278 g, with a range of omnidirectional bending up to 90.80°, a maximum tolerable pressure of 862 kPa, and a bending payload (block force) of 10.99 N, resulting in a force-to-weight ratio of 39.53 N/kg. The OBA’s cost-effective and simple fabrication, compact and lightweight structure, and capability to withstand high pressures present it as an attractive actuation primitive for applications demanding efficient and versatile soft robotic solutions.
abstractGer	Soft robots, inspired by biological adaptability, can excel where rigid robots may falter and offer flexibility and safety for complex, unpredictable environments. In this paper, we present the Omnidirectional Bending Actuator (OBA), a soft robotic actuation module which is fabricated from off-the-shelf materials with easy scalability and consists of three pneumatic chambers. Distinguished by its streamlined manufacturing process, the OBA is capable of bending in all directions with a high force-to-weight ratio, potentially addressing a notable research gap in knit fabric actuators with multi-degree-of-freedom capabilities. We will present the design and fabrication of the OBA, examine its motion and force capabilities, and demonstrate its capability for stiffness modulation and its ability to maintain set configurations under loads. The mass of the entire actuation module is 278 g, with a range of omnidirectional bending up to 90.80°, a maximum tolerable pressure of 862 kPa, and a bending payload (block force) of 10.99 N, resulting in a force-to-weight ratio of 39.53 N/kg. The OBA’s cost-effective and simple fabrication, compact and lightweight structure, and capability to withstand high pressures present it as an attractive actuation primitive for applications demanding efficient and versatile soft robotic solutions.
abstract_unstemmed	Soft robots, inspired by biological adaptability, can excel where rigid robots may falter and offer flexibility and safety for complex, unpredictable environments. In this paper, we present the Omnidirectional Bending Actuator (OBA), a soft robotic actuation module which is fabricated from off-the-shelf materials with easy scalability and consists of three pneumatic chambers. Distinguished by its streamlined manufacturing process, the OBA is capable of bending in all directions with a high force-to-weight ratio, potentially addressing a notable research gap in knit fabric actuators with multi-degree-of-freedom capabilities. We will present the design and fabrication of the OBA, examine its motion and force capabilities, and demonstrate its capability for stiffness modulation and its ability to maintain set configurations under loads. The mass of the entire actuation module is 278 g, with a range of omnidirectional bending up to 90.80°, a maximum tolerable pressure of 862 kPa, and a bending payload (block force) of 10.99 N, resulting in a force-to-weight ratio of 39.53 N/kg. The OBA’s cost-effective and simple fabrication, compact and lightweight structure, and capability to withstand high pressures present it as an attractive actuation primitive for applications demanding efficient and versatile soft robotic solutions.
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title_short	Design and Characterization of Soft Fabric Omnidirectional Bending Actuators
url	https://doi.org/10.3390/act13030112 https://doaj.org/article/c2a624db4e714c608a335f455365579b https://www.mdpi.com/2076-0825/13/3/112 https://doaj.org/toc/2076-0825
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author2	Khulan Bayarsaikhan Gabriel Aguilar Jonathan Realmuto Jun Sheng
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