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Fabrication of Soft Pneumatic Network Actuators with Oblique Chambers
Published on: August 17, 2018
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Modular soft pneumatic actuator mimics elephant trunk locomotion.
Ahmad R Elchrif1, Mohammed I Awad2, Shady A Maged2
1Mechatronics Engineering Department, Faculty of Engineering, Ain Shams University, Cairo, 11517, Egypt. 1901873@eng.asu.edu.eg.
Scientific Reports
|October 15, 2024
Summary
This study presents a novel soft pneumatic actuator inspired by elephant trunks for hand rehabilitation. The reinforced actuator offers four degrees of freedom and 46% improved energy efficiency.
Area of Science:
- Robotics
- Biomedical Engineering
- Materials Science
Background:
- Soft robots offer safe human interaction and flexible deformability, ideal for human interface applications.
- Soft pneumatic actuators (SPAs), specifically Soft Pneu-Net (Pneu-Net) actuators, are powered by pneumatic networks.
- Existing actuators lack the degrees of freedom necessary for complex human motion, such as finger articulation.
Purpose of the Study:
- To develop a bio-inspired, modular Soft Pneu-Net actuator for human hand finger rehabilitation.
- To achieve four degrees of freedom using a single, integrated actuator design.
- To establish a reproducible methodology for modular soft actuator fabrication and material characterization.
Main Methods:
- Computer-aided design (CAD) using SOLIDWORKS for actuator design.
- Finite element modeling (FEM) using ABAQUS for simulation.
- 3D printed molds for fabrication and soft material molding, with module integration via adhesion.
- A novel biaxial tension test for hyper-elastic material property identification for FEM.
Main Results:
- A four-module Pneu-Net actuator mimicking elephant trunk curling was designed and fabricated.
- The reinforced actuator version demonstrated limited strain and deformation.
- The reinforced actuator achieved a 46% improvement in energy efficiency.
Conclusions:
- The developed modular Soft Pneu-Net actuator successfully provides four degrees of freedom for finger motion.
- The bio-inspired design and fabrication methodology are reproducible and suitable for human interface applications.
- Reinforcement enhances actuator performance, reducing unwanted deformation and significantly improving energy efficiency for rehabilitation robotics.
