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Rapid Manufacturing of Thin Soft Pneumatic Actuators and Robots
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Tiny hydraulics for powered orthotics.

William Durfee1, Jicheng Xia, Elizabeth Hsiao-Wecksler

  • 1University of Minnesota, Minneapolis, USA. wkdurfee@umn.edu

IEEE ... International Conference on Rehabilitation Robotics : [Proceedings]
|January 26, 2012
PubMed
Summary
This summary is machine-generated.

Fluid power systems are lighter than electromechanical systems for untethered, powered orthotics if operated above 200 psi. Custom components are needed for smaller, lighter electrohydraulic actuators.

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Area of Science:

  • Robotics and Biomechanics
  • Mechanical Engineering
  • Wearable Technology

Background:

  • Untethered, powered orthotics necessitate efficient actuation systems.
  • Fluid power offers high force-to-weight ratios, but its efficacy in small, low-power systems (10-100 W) is not well-established.
  • Comparison with electromechanical systems is crucial for optimizing orthotic design.

Purpose of the Study:

  • To analyze and compare the feasibility of fluid power versus electromechanical systems for untethered powered orthotics.
  • To determine the optimal operating pressure for fluid power systems in this application.
  • To assess the potential of seal-less cylinder designs for improved actuator efficiency.

Main Methods:

  • Systems analysis comparing fluid power and electromechanical actuation.
  • Theoretical analysis of small bore cylinders, including seal-less designs.
  • Development and testing of a prototype battery-powered electrohydraulic actuator.

Main Results:

  • Fluid power systems are theoretically lighter than electromechanical systems above approximately 200 psi.
  • Seal-less cylinder designs show potential for higher efficiency with small clearance gaps.
  • A prototype electrohydraulic actuator met power requirements but was too large and heavy, indicating a need for custom components.

Conclusions:

  • Fluid power is a viable actuation technology for powered orthotics, particularly at higher pressures.
  • Further development of custom, compact components is necessary to realize the full benefits of electrohydraulic actuation in wearable devices.
  • Seal-less designs warrant further investigation for efficiency gains.