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Stretchable Materials for Robust Soft Actuators towards Assistive Wearable Devices
Gunjan Agarwal1, Nicolas Besuchet1, Basile Audergon1
1Ecole Polytechnique Federale de Lausanne (Swiss Federal Institute of Technology, EPFL), Reconfigurable Robotics Laboratory, EPFL-IGM-RRL, MED 11326, Station 9, CH-1015 Lausanne, Switzerland.
Scientific Reports
|September 28, 2016
Summary
We developed a new soft actuator design and tool for enhanced performance in assistive wearables and soft robotics. Our validated models enable efficient design for applications like rehabilitation and biomimetic systems.
Area of Science:
- Robotics and Materials Science
- Biomedical Engineering and Wearable Technology
Background:
- Soft actuators from elastomeric materials offer potential in diverse applications.
- Existing designs face limitations in mechanical performance and manufacturability.
Purpose of the Study:
- To introduce a novel two-component soft actuator design and a complementary design tool.
- To enhance mechanical performance and manufacturability for targeted applications.
Main Methods:
- Utilized finite element method (FEM) for numerical modeling of actuator behavior at large strains.
- Developed and validated models using experimental data from linear and bending actuator prototypes (free displacement, blocked-forces).
Main Results:
- Numerical models accurately predict actuator behavior, enabling efficient design iterations.
- Experimental validation confirmed the efficacy of the FEM models.
- Demonstrated the practical application of the design tool and robustness of the actuator hardware.
Conclusions:
- The proposed soft actuator design and design tool significantly enhance mechanical performance and manufacturability.
- Validated models facilitate optimization for diverse soft robotic systems and assistive wearable technologies.
- The technology shows promise for replicating human body motions in rehabilitation and other applications.
