Design, Characterization, and Mechanical Programming of Fabric-Reinforced Textile Actuators for a Soft Robotic Hand

Pham H. Nguyen, Francisco Lopez-Arellano, Wenlong Zhang, Panagiotis Polygerinos

Research output: Chapter in Book/Report/Conference proceedingConference contribution

2 Scopus citations

Abstract

In this paper, we present the design, fabrication, and evaluation of robust, fabric-reinforced textile actuators, which are capable of performing a variety and combination of motions, such as axial extension, radial expansion, bending, and twisting along its central axis. A simple fabrication procedure using a combination of lamination and sewing is described. The relationship between the fabric reinforcement characteristics and the actuator deformation is studied and experimentally verified. Multi-segment actuators can be created by tailoring different sections of fabric-reinforcements together in order to generate combination of motions to perform specific tasks. We demonstrate this by designing an anthropomorphic soft robotic hand and providing preliminary evaluations on grasping daily living objects of various size and shapes.

Original languageEnglish (US)
Title of host publication2019 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2019
PublisherInstitute of Electrical and Electronics Engineers Inc.
Pages8312-8317
Number of pages6
ISBN (Electronic)9781728140049
DOIs
StatePublished - Nov 2019
Event2019 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2019 - Macau, China
Duration: Nov 3 2019Nov 8 2019

Publication series

NameIEEE International Conference on Intelligent Robots and Systems
ISSN (Print)2153-0858
ISSN (Electronic)2153-0866

Conference

Conference2019 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2019
CountryChina
CityMacau
Period11/3/1911/8/19

ASJC Scopus subject areas

  • Control and Systems Engineering
  • Software
  • Computer Vision and Pattern Recognition
  • Computer Science Applications

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  • Cite this

    Nguyen, P. H., Lopez-Arellano, F., Zhang, W., & Polygerinos, P. (2019). Design, Characterization, and Mechanical Programming of Fabric-Reinforced Textile Actuators for a Soft Robotic Hand. In 2019 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2019 (pp. 8312-8317). [8968497] (IEEE International Conference on Intelligent Robots and Systems). Institute of Electrical and Electronics Engineers Inc.. https://doi.org/10.1109/IROS40897.2019.8968497