TY - GEN
T1 - Design, fabrication, and characterization of a helical twisting, contracting, and bending fabric soft continuum actuator
AU - Nguyen, Pham H.
AU - Mohd, Imran I.B.
AU - Duford, Katherine
AU - Bao, Xiong
AU - Zhang, Wenlong
N1 - Funding Information:
This work was supported in part by the National Science Foundation under Grant CMMI-1800940. P. Nguyen was the Polytechnic School, Arizona State University. He is currently with Aerial Robotics Laboratory, Department of Aeronautics, Imperial College London, UK. n.pham@imperial.ac.uk I. Mohd, K. Duford, and X. Bao are with School for Engineering of Matter, Transport and Energy, Ira A. Fulton Schools of Engineering, Arizona State University, Tempe, AZ 85281, USA. W. Zhang is with the Polytechnic School, Ira A. Fulton Schools of Engineering, Arizona State University, Mesa, AZ 85212, USA. wenlong.zhang@asu.edu + P. H. Nguyen and Imran I. B. Mohd are equally contributing authors. ∗ Address all correspondence to this author.
Publisher Copyright:
© 2021 IEEE.
PY - 2021/4/12
Y1 - 2021/4/12
N2 - In recent years, soft robots have demonstrated the capability for delicate and compliant interactions with objects, users, and unstructured environments. These soft robotic systems are bio-inspired from various examples like snakes, hydrostatic muscles in elephants and octopi, plant tendrils, etc. These soft actuation systems, like their biological counterpart have shown the ability to replicate natural movement, making them potentially effective in real world use cases. In this paper, we propose a new fabric-based soft continuum actuator with three chambers capable of helical twisting and simultaneous linear contraction as well as bending in multi-DOF. We characterize the performance of the system based on their geometrical parameters and preliminarily evaluate the system as a bionic winding manipulator and a soft robot arm.
AB - In recent years, soft robots have demonstrated the capability for delicate and compliant interactions with objects, users, and unstructured environments. These soft robotic systems are bio-inspired from various examples like snakes, hydrostatic muscles in elephants and octopi, plant tendrils, etc. These soft actuation systems, like their biological counterpart have shown the ability to replicate natural movement, making them potentially effective in real world use cases. In this paper, we propose a new fabric-based soft continuum actuator with three chambers capable of helical twisting and simultaneous linear contraction as well as bending in multi-DOF. We characterize the performance of the system based on their geometrical parameters and preliminarily evaluate the system as a bionic winding manipulator and a soft robot arm.
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U2 - 10.1109/RoboSoft51838.2021.9479350
DO - 10.1109/RoboSoft51838.2021.9479350
M3 - Conference contribution
AN - SCOPUS:85114196983
T3 - 2021 IEEE 4th International Conference on Soft Robotics, RoboSoft 2021
SP - 567
EP - 570
BT - 2021 IEEE 4th International Conference on Soft Robotics, RoboSoft 2021
PB - Institute of Electrical and Electronics Engineers Inc.
T2 - 4th IEEE International Conference on Soft Robotics, RoboSoft 2021
Y2 - 12 April 2021 through 16 April 2021
ER -