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Pneumatic Supply System Parameter Optimization for Soft Actuators.

Sagar Joshi1, Jamie Paik1

  • 1Reconfigurable Robotics Lab (RRL), Swiss Federal Institute of Technology Lausanne, Lausanne, Switzerland.

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|June 30, 2020
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Summary
This summary is machine-generated.

This study introduces a new method to optimize pneumatic supply systems (PSSs) for soft robots. The research models soft actuator pressure dynamics to improve robot performance and reduce system mass.

Keywords:
flow dynamicspneumatic supply systempressure dynamicssoft actuatorswearable technology

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Area of Science:

  • Robotics
  • Mechanical Engineering
  • Control Systems

Background:

  • Soft actuators powered by pressurized air offer compliance and customizability.
  • Pneumatic supply systems (PSSs) are crucial for soft robot performance, influencing actuator dynamics.
  • Current limitations exist in optimizing PSS for both dynamic performance and system specifications like mass and duration.

Purpose of the Study:

  • To develop a comprehensive approach for optimizing PSS parameters in soft robotics.
  • To model and quantify the relationship between PSS parameters, actuator design, and dynamic performance metrics.
  • To enable efficient selection and control of PSS components for desired soft actuator performance and system specifications.

Main Methods:

  • Proposed a normalized model for soft actuator pressure dynamics.
  • Quantified the relationship between PSS parameters, soft actuator design, and dynamic performance (rise time, fall time, actuation frequency).
  • Validated the model experimentally and applied it to optimize PSS for a soft exosuit, minimizing component mass.

Main Results:

  • Developed a validated model for soft actuator pressure dynamics.
  • Demonstrated PSS parameter optimization for enhanced dynamic performance and reduced system mass.
  • Achieved good agreement between simulated and experimental pressure responses (RMSE <5.2%) for a soft exosuit.

Conclusions:

  • The proposed modeling and optimization framework enables effective PSS design for soft robots.
  • This work facilitates meeting specific soft actuator performance requirements while addressing PSS constraints like mass.
  • Advances the field of soft robotics by providing tools for PSS modeling and optimization.