Characterization of bending balloon actuators
The emerging field of soft robotics often relies on soft actuators powered by pressurized fluids to obtain a variety of movements. Strategic incorporation of soft actuators can greatly increase the degree of freedom of soft robots thereby bestowing them with a range of movements. Balloon actuators a...
| Main Authors: | , , , |
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| Format: | Article |
| Language: | English |
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Frontiers Media S.A.
2022-09-01
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| Series: | Frontiers in Robotics and AI |
| Subjects: | |
| Online Access: | https://www.frontiersin.org/articles/10.3389/frobt.2022.991748/full |
| _version_ | 1811266940417605632 |
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| author | Ung Hyun Ko Vardhman Kumar Benjamin Rosen Shyni Varghese Shyni Varghese Shyni Varghese |
| author_facet | Ung Hyun Ko Vardhman Kumar Benjamin Rosen Shyni Varghese Shyni Varghese Shyni Varghese |
| author_sort | Ung Hyun Ko |
| collection | DOAJ |
| description | The emerging field of soft robotics often relies on soft actuators powered by pressurized fluids to obtain a variety of movements. Strategic incorporation of soft actuators can greatly increase the degree of freedom of soft robots thereby bestowing them with a range of movements. Balloon actuators are extensively used to achieve various motions such as bending, twisting, and expanding. A detailed understanding of how material properties and architectural designs of balloon actuators influence their motions will greatly enable the application of these soft actuators. In this study, we developed a framework involving experimental and theoretical analyses, including computational analysis, delineating material and geometrical parameters of balloon actuators to their bending motions. Furthermore, we provide a simple analytical model to predict and control the degree of bending of these actuators. The described analytical tool could be used to predict the actuating function of balloon actuators and thereby help generate optimal actuators for functions which require control over the extent and direction of actuation. |
| first_indexed | 2024-04-12T20:52:21Z |
| format | Article |
| id | doaj.art-557002e8dc9e4dbfa2663fb9f1ae2ba4 |
| institution | Directory Open Access Journal |
| issn | 2296-9144 |
| language | English |
| last_indexed | 2024-04-12T20:52:21Z |
| publishDate | 2022-09-01 |
| publisher | Frontiers Media S.A. |
| record_format | Article |
| series | Frontiers in Robotics and AI |
| spelling | doaj.art-557002e8dc9e4dbfa2663fb9f1ae2ba42022-12-22T03:17:04ZengFrontiers Media S.A.Frontiers in Robotics and AI2296-91442022-09-01910.3389/frobt.2022.991748991748Characterization of bending balloon actuatorsUng Hyun Ko0Vardhman Kumar1Benjamin Rosen2Shyni Varghese3Shyni Varghese4Shyni Varghese5Department of Orthopaedics Surgery, Duke University School of Medicine, Duke University, Durham, NC, United StatesDepartment of Biomedical Engineering, Pratt School of Engineering, Duke University, Durham, NC, United StatesDepartment of Biomedical Engineering, Pratt School of Engineering, Duke University, Durham, NC, United StatesDepartment of Orthopaedics Surgery, Duke University School of Medicine, Duke University, Durham, NC, United StatesDepartment of Biomedical Engineering, Pratt School of Engineering, Duke University, Durham, NC, United StatesDepartment of Mechanical Engineering and Material Science, Pratt School of Engineering, Duke University, Durham, NC, United StatesThe emerging field of soft robotics often relies on soft actuators powered by pressurized fluids to obtain a variety of movements. Strategic incorporation of soft actuators can greatly increase the degree of freedom of soft robots thereby bestowing them with a range of movements. Balloon actuators are extensively used to achieve various motions such as bending, twisting, and expanding. A detailed understanding of how material properties and architectural designs of balloon actuators influence their motions will greatly enable the application of these soft actuators. In this study, we developed a framework involving experimental and theoretical analyses, including computational analysis, delineating material and geometrical parameters of balloon actuators to their bending motions. Furthermore, we provide a simple analytical model to predict and control the degree of bending of these actuators. The described analytical tool could be used to predict the actuating function of balloon actuators and thereby help generate optimal actuators for functions which require control over the extent and direction of actuation.https://www.frontiersin.org/articles/10.3389/frobt.2022.991748/fullsoft actuatorspressurized actuatorsballoon actuatorsbending actuatorballoon actuator |
| spellingShingle | Ung Hyun Ko Vardhman Kumar Benjamin Rosen Shyni Varghese Shyni Varghese Shyni Varghese Characterization of bending balloon actuators Frontiers in Robotics and AI soft actuators pressurized actuators balloon actuators bending actuator balloon actuator |
| title | Characterization of bending balloon actuators |
| title_full | Characterization of bending balloon actuators |
| title_fullStr | Characterization of bending balloon actuators |
| title_full_unstemmed | Characterization of bending balloon actuators |
| title_short | Characterization of bending balloon actuators |
| title_sort | characterization of bending balloon actuators |
| topic | soft actuators pressurized actuators balloon actuators bending actuator balloon actuator |
| url | https://www.frontiersin.org/articles/10.3389/frobt.2022.991748/full |
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