Interaction Forces of Soft Fiber Reinforced Bending Actuators

Zheng Wang, Panagiotis Polygerinos, Johannes T.B. Overvelde, Kevin C. Galloway, Katia Bertoldi, Conor J. Walsh

    Research output: Contribution to journalArticle

    47 Citations (Scopus)

    Abstract

    Soft-bending actuators are inherently compliant, compact, and lightweight. They are preferable candidates over rigid actuators for robotic applications ranging from physical human interaction to delicate object manipulation. However, characterizing and predicting their behaviors are challenging due to the material nonlinearities and the complex motions they can produce. This paper investigates a soft-bending actuator design that uses a single air chamber and fiber reinforcements. Additionally, the actuator design incorporates a sensing layer to enable real-time bending angle measurement for analysis and control. In order to study the bending and force exertion characteristics when interacting with the environment, a quasi-static analytical model is developed based on the bending moments generated from the applied internal pressure and stretches of the soft materials. Comparatively, a finite-element method model is created for the same actuator design. Both the analytical model and the finite-element model are used in the fiber reinforcement analysis and the validation experiments with fabricated actuators. The experimental results demonstrate that the analytical model captures the relationships of supplied air pressure, actuator bending angle, and interaction force at the actuator tip. Moreover, it is shown that an off-the-shelf bend angle sensor integrated to the actuator in this study could provide real-time force estimation, thus eliminating the need for a force sensor.

    Original languageEnglish (US)
    Article number7781665
    Pages (from-to)717-727
    Number of pages11
    JournalIEEE/ASME Transactions on Mechatronics
    Volume22
    Issue number2
    DOIs
    StatePublished - Apr 1 2017

    Fingerprint

    Actuators
    Fibers
    Analytical models
    Fiber reinforced materials
    Sensors
    Bending moments
    Angle measurement
    Air
    Robotics
    Finite element method
    Experiments

    Keywords

    • Bending
    • fluidic actuator
    • interaction force
    • modeling
    • soft robot

    ASJC Scopus subject areas

    • Control and Systems Engineering
    • Computer Science Applications
    • Electrical and Electronic Engineering

    Cite this

    Wang, Z., Polygerinos, P., Overvelde, J. T. B., Galloway, K. C., Bertoldi, K., & Walsh, C. J. (2017). Interaction Forces of Soft Fiber Reinforced Bending Actuators. IEEE/ASME Transactions on Mechatronics, 22(2), 717-727. [7781665]. https://doi.org/10.1109/TMECH.2016.2638468

    Interaction Forces of Soft Fiber Reinforced Bending Actuators. / Wang, Zheng; Polygerinos, Panagiotis; Overvelde, Johannes T.B.; Galloway, Kevin C.; Bertoldi, Katia; Walsh, Conor J.

    In: IEEE/ASME Transactions on Mechatronics, Vol. 22, No. 2, 7781665, 01.04.2017, p. 717-727.

    Research output: Contribution to journalArticle

    Wang, Z, Polygerinos, P, Overvelde, JTB, Galloway, KC, Bertoldi, K & Walsh, CJ 2017, 'Interaction Forces of Soft Fiber Reinforced Bending Actuators', IEEE/ASME Transactions on Mechatronics, vol. 22, no. 2, 7781665, pp. 717-727. https://doi.org/10.1109/TMECH.2016.2638468
    Wang Z, Polygerinos P, Overvelde JTB, Galloway KC, Bertoldi K, Walsh CJ. Interaction Forces of Soft Fiber Reinforced Bending Actuators. IEEE/ASME Transactions on Mechatronics. 2017 Apr 1;22(2):717-727. 7781665. https://doi.org/10.1109/TMECH.2016.2638468
    Wang, Zheng ; Polygerinos, Panagiotis ; Overvelde, Johannes T.B. ; Galloway, Kevin C. ; Bertoldi, Katia ; Walsh, Conor J. / Interaction Forces of Soft Fiber Reinforced Bending Actuators. In: IEEE/ASME Transactions on Mechatronics. 2017 ; Vol. 22, No. 2. pp. 717-727.
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