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Soft Robotic Pad Maturing for Practical Applications.

Yi Sun1,2, Miao Li2, Hui Feng2

  • 1NUS Graduate School for Integrative Sciences and Engineering, National University of Singapore, Singapore, Singapore.

Soft Robotics
|September 5, 2019
PubMed
Summary
This summary is machine-generated.

This study introduces the soft robotic pad (SRP), a novel 2D actuator that enhances soft robotics capabilities. Improved fabrication strengthens SRPs for higher pressures, expanding applications in soft pneumatic actuators.

Keywords:
soft pneumatic actuatorsoft robotsoft robotic padsurface morphing

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Area of Science:

  • Soft Robotics and Actuation
  • Materials Science and Engineering

Background:

  • Soft pneumatic actuators (SPAs) are established but predominantly 1D, finger-like devices.
  • Recent advancements in SPA fabrication have led to diverse designs, scales, and motion capabilities.
  • Existing soft robotic pads (SRPs) faced premature failure issues due to fabrication limitations.

Purpose of the Study:

  • To introduce a new class of 2D actuators: soft robotic pads (SRPs).
  • To present significant fabrication improvements addressing premature failure and enhancing pressure tolerance.
  • To characterize SRP performance through modeling and motion tracking, and demonstrate a novel application.

Main Methods:

  • Development of an improved fabrication technique for silicone-based 2D SRPs.
  • Implementation of shape and force modeling to predict actuator output under varying pressures.
  • Utilizing a Vicon motion tracking system for precise characterization of 2D surface morphing.

Main Results:

  • Successfully enhanced SRP fabrication, enabling higher pressure resistance and preventing premature failure.
  • Developed predictive models for SRP shape and force outputs based on applied pressure.
  • Demonstrated SRP capabilities through motion tracking and a prototype soft wearable assistive pad for elbow flexion.

Conclusions:

  • SRPs represent a new class of 2D actuators, significantly expanding the motion modalities and application scope of soft robotics.
  • The improved fabrication method ensures robust SRPs suitable for demanding applications.
  • SRPs offer a versatile platform for developing advanced soft wearable devices and other soft robotic systems.