Design and analysis of coiled fiber reinforced soft pneumatic actuator.

Abstract:

:Fiber reinforced elastomeric enclosures (FREEs) are soft pneumatic actuators that can contract and generate forces upon pressurization. Typical engineering applications utilize FREEs in their straight cylindrical configuration and derive actuation displacement and forces from their ends. However, there are several instances in nature, such as an elephant trunk, snakes and grapevine tendrils, where a spiral configuration of muscle systems is used for gripping, thereby establishing a mechanical connection with uniform force distribution. Inspired by these examples, this paper investigates the constricting behavior of a contracting FREE actuator deployed in a spiral or coiled configuration around a cylindrical object. Force balance is used to model the blocked force of the FREE, which is then related to the constriction force using a string model. The modeling and experimental findings reveal an attenuation in the blocked force, and thus the constriction force caused by the coupling of peripheral contact forces acting in the spiral configuration. The usefulness of the coiled FREE configuration is demonstrated in a soft arm orthosis for crutch users that provides a constriction force around the forearm. This design minimizes injury risk by reducing wrist load and improving wrist posture.

journal_name

Bioinspir Biomim

authors

Singh G,Xiao C,Hsiao-Wecksler ET,Krishnan G

doi

10.1088/1748-3190/aab19c

subject

Has Abstract

pub_date

2018-04-18 00:00:00

pages

036010

issue

3

eissn

1748-3182

issn

1748-3190

journal_volume

13

pub_type

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