Design, fabrication, and characterization of a helical twisting, contracting, and bending fabric soft continuum actuator

Pham H. Nguyen, Imran I.B. Mohd, Katherine Duford, Xiong Bao, Wenlong Zhang

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

Abstract

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.

Original languageEnglish (US)
Title of host publication2021 IEEE 4th International Conference on Soft Robotics, RoboSoft 2021
PublisherInstitute of Electrical and Electronics Engineers Inc.
Pages567-570
Number of pages4
ISBN (Electronic)9781728177137
DOIs
StatePublished - Apr 12 2021
Event4th IEEE International Conference on Soft Robotics, RoboSoft 2021 - New Haven, United States
Duration: Apr 12 2021Apr 16 2021

Publication series

Name2021 IEEE 4th International Conference on Soft Robotics, RoboSoft 2021

Conference

Conference4th IEEE International Conference on Soft Robotics, RoboSoft 2021
Country/TerritoryUnited States
CityNew Haven
Period4/12/214/16/21

ASJC Scopus subject areas

  • Artificial Intelligence
  • Mechanical Engineering
  • Control and Optimization
  • Modeling and Simulation

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