Mechanically programmable bend radius for fiber-reinforced soft actuators

Kevin C. Galloway, Panagiotis Polygerinos, Conor J. Walsh, Robert J. Wood

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

123 Citations (Scopus)

Abstract

Established design and fabrication guidelines exist for achieving a variety of motions with soft actuators such as bending, contraction, extension, and twisting. These guidelines typically involve multi-step molding of composite materials (elastomers, paper, fiber, etc.) along with specially designed geometry. In this paper we present the design and fabrication of a robust, fiber-reinforced soft bending actuator where its bend radius and bending axis can be mechanically-programed with a flexible, selectively-placed conformal covering that acts to mechanically constrain motion. Several soft actuators were fabricated and their displacement and force capabilities were measured experimentally and compared to demonstrate the utility of this approach. Finally, a prototype two-digit end-effector was designed and programmed with the conformal covering to shape match a rectangular object. We demonstrated improved gripping force compared to a pure bending actuator. We envision this approach enabling rapid customization of soft actuator function for grasping applications where the geometry of the task is known a priori.

Original languageEnglish (US)
Title of host publication2013 16th International Conference on Advanced Robotics, ICAR 2013
PublisherIEEE Computer Society
DOIs
StatePublished - 2013
Externally publishedYes
Event2013 16th International Conference on Advanced Robotics, ICAR 2013 - Montevideo, Uruguay
Duration: Nov 25 2013Nov 29 2013

Other

Other2013 16th International Conference on Advanced Robotics, ICAR 2013
CountryUruguay
CityMontevideo
Period11/25/1311/29/13

Fingerprint

Actuators
Fibers
Fabrication
Geometry
End effectors
Elastomers
Molding
Composite materials

ASJC Scopus subject areas

  • Artificial Intelligence
  • Human-Computer Interaction
  • Software

Cite this

Galloway, K. C., Polygerinos, P., Walsh, C. J., & Wood, R. J. (2013). Mechanically programmable bend radius for fiber-reinforced soft actuators. In 2013 16th International Conference on Advanced Robotics, ICAR 2013 [6766586] IEEE Computer Society. https://doi.org/10.1109/ICAR.2013.6766586

Mechanically programmable bend radius for fiber-reinforced soft actuators. / Galloway, Kevin C.; Polygerinos, Panagiotis; Walsh, Conor J.; Wood, Robert J.

2013 16th International Conference on Advanced Robotics, ICAR 2013. IEEE Computer Society, 2013. 6766586.

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

Galloway, KC, Polygerinos, P, Walsh, CJ & Wood, RJ 2013, Mechanically programmable bend radius for fiber-reinforced soft actuators. in 2013 16th International Conference on Advanced Robotics, ICAR 2013., 6766586, IEEE Computer Society, 2013 16th International Conference on Advanced Robotics, ICAR 2013, Montevideo, Uruguay, 11/25/13. https://doi.org/10.1109/ICAR.2013.6766586
Galloway KC, Polygerinos P, Walsh CJ, Wood RJ. Mechanically programmable bend radius for fiber-reinforced soft actuators. In 2013 16th International Conference on Advanced Robotics, ICAR 2013. IEEE Computer Society. 2013. 6766586 https://doi.org/10.1109/ICAR.2013.6766586
Galloway, Kevin C. ; Polygerinos, Panagiotis ; Walsh, Conor J. ; Wood, Robert J. / Mechanically programmable bend radius for fiber-reinforced soft actuators. 2013 16th International Conference on Advanced Robotics, ICAR 2013. IEEE Computer Society, 2013.
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