Effect of Segment Types on Characterization of Soft Sensing Textile Actuators for Soft Wearable Robots
The use of textiles in soft robotics is gaining popularity because of the advantages textiles offer over other materials in terms of weight, conformability, and ease of manufacture. The purpose of this research is to examine the stitching process used to construct fabric-based pneumatic bending actu...
| Main Authors: | , , , , , , , |
|---|---|
| Format: | Article |
| Language: | English |
| Published: |
MDPI AG
2022-12-01
|
| Series: | Biomimetics |
| Subjects: | |
| Online Access: | https://www.mdpi.com/2313-7673/7/4/249 |
| _version_ | 1797461264959537152 |
|---|---|
| author | Ayse Feyza Yilmaz Fidan Khalilbayli Kadir Ozlem Hend M. Elmoughni Fatma Kalaoglu Asli Tuncay Atalay Gökhan Ince Ozgur Atalay |
| author_facet | Ayse Feyza Yilmaz Fidan Khalilbayli Kadir Ozlem Hend M. Elmoughni Fatma Kalaoglu Asli Tuncay Atalay Gökhan Ince Ozgur Atalay |
| author_sort | Ayse Feyza Yilmaz |
| collection | DOAJ |
| description | The use of textiles in soft robotics is gaining popularity because of the advantages textiles offer over other materials in terms of weight, conformability, and ease of manufacture. The purpose of this research is to examine the stitching process used to construct fabric-based pneumatic bending actuators as well as the effect of segment types on the actuators’ properties when used in soft robotic glove applications. To impart bending motion to actuators, two techniques have been used: asymmetry between weave and weft knit fabric layers and mechanical anisotropy between these two textiles. The impacts of various segment types on the actuators’ grip force and bending angle were investigated further. According to experiments, segmenting the actuator with a sewing technique increases the bending angle. It was discovered that actuators with high anisotropy differences in their fabric combinations have high gripping forces. Textile-based capacitive strain sensors are also added to selected segmented actuator types, which possess desirable properties such as increased grip force, increased bending angle, and reduced radial expansion. The sensors were used to demonstrate the controllability of a soft robotic glove using a closed-loop system. Finally, we demonstrated that actuators integrated into a soft wearable glove are capable of grasping a variety of items and performing various grasp types. |
| first_indexed | 2024-03-09T17:17:15Z |
| format | Article |
| id | doaj.art-6cf7c1da295146b89681de2f1321cb3d |
| institution | Directory Open Access Journal |
| issn | 2313-7673 |
| language | English |
| last_indexed | 2024-03-09T17:17:15Z |
| publishDate | 2022-12-01 |
| publisher | MDPI AG |
| record_format | Article |
| series | Biomimetics |
| spelling | doaj.art-6cf7c1da295146b89681de2f1321cb3d2023-11-24T13:32:11ZengMDPI AGBiomimetics2313-76732022-12-017424910.3390/biomimetics7040249Effect of Segment Types on Characterization of Soft Sensing Textile Actuators for Soft Wearable RobotsAyse Feyza Yilmaz0Fidan Khalilbayli1Kadir Ozlem2Hend M. Elmoughni3Fatma Kalaoglu4Asli Tuncay Atalay5Gökhan Ince6Ozgur Atalay7Faculty of Textile Technologies and Design, Textile Engineering Department, Istanbul Technical University, Istanbul 34437, TurkeyFaculty of Computer and Informatics Engineering, Computer Engineering Department, Istanbul Technical University, Istanbul 34469, TurkeyFaculty of Computer and Informatics Engineering, Computer Engineering Department, Istanbul Technical University, Istanbul 34469, TurkeyFaculty of Textile Technologies and Design, Textile Engineering Department, Istanbul Technical University, Istanbul 34437, TurkeyFaculty of Textile Technologies and Design, Textile Engineering Department, Istanbul Technical University, Istanbul 34437, TurkeyFaculty of Technology, Textile Engineering Department, Marmara University, Istanbul 34854, TurkeyFaculty of Computer and Informatics Engineering, Computer Engineering Department, Istanbul Technical University, Istanbul 34469, TurkeyFaculty of Textile Technologies and Design, Textile Engineering Department, Istanbul Technical University, Istanbul 34437, TurkeyThe use of textiles in soft robotics is gaining popularity because of the advantages textiles offer over other materials in terms of weight, conformability, and ease of manufacture. The purpose of this research is to examine the stitching process used to construct fabric-based pneumatic bending actuators as well as the effect of segment types on the actuators’ properties when used in soft robotic glove applications. To impart bending motion to actuators, two techniques have been used: asymmetry between weave and weft knit fabric layers and mechanical anisotropy between these two textiles. The impacts of various segment types on the actuators’ grip force and bending angle were investigated further. According to experiments, segmenting the actuator with a sewing technique increases the bending angle. It was discovered that actuators with high anisotropy differences in their fabric combinations have high gripping forces. Textile-based capacitive strain sensors are also added to selected segmented actuator types, which possess desirable properties such as increased grip force, increased bending angle, and reduced radial expansion. The sensors were used to demonstrate the controllability of a soft robotic glove using a closed-loop system. Finally, we demonstrated that actuators integrated into a soft wearable glove are capable of grasping a variety of items and performing various grasp types.https://www.mdpi.com/2313-7673/7/4/249soft roboticsoft actuatorsensing actuatortextile-based actuatorwearable robot |
| spellingShingle | Ayse Feyza Yilmaz Fidan Khalilbayli Kadir Ozlem Hend M. Elmoughni Fatma Kalaoglu Asli Tuncay Atalay Gökhan Ince Ozgur Atalay Effect of Segment Types on Characterization of Soft Sensing Textile Actuators for Soft Wearable Robots Biomimetics soft robotic soft actuator sensing actuator textile-based actuator wearable robot |
| title | Effect of Segment Types on Characterization of Soft Sensing Textile Actuators for Soft Wearable Robots |
| title_full | Effect of Segment Types on Characterization of Soft Sensing Textile Actuators for Soft Wearable Robots |
| title_fullStr | Effect of Segment Types on Characterization of Soft Sensing Textile Actuators for Soft Wearable Robots |
| title_full_unstemmed | Effect of Segment Types on Characterization of Soft Sensing Textile Actuators for Soft Wearable Robots |
| title_short | Effect of Segment Types on Characterization of Soft Sensing Textile Actuators for Soft Wearable Robots |
| title_sort | effect of segment types on characterization of soft sensing textile actuators for soft wearable robots |
| topic | soft robotic soft actuator sensing actuator textile-based actuator wearable robot |
| url | https://www.mdpi.com/2313-7673/7/4/249 |
| work_keys_str_mv | AT aysefeyzayilmaz effectofsegmenttypesoncharacterizationofsoftsensingtextileactuatorsforsoftwearablerobots AT fidankhalilbayli effectofsegmenttypesoncharacterizationofsoftsensingtextileactuatorsforsoftwearablerobots AT kadirozlem effectofsegmenttypesoncharacterizationofsoftsensingtextileactuatorsforsoftwearablerobots AT hendmelmoughni effectofsegmenttypesoncharacterizationofsoftsensingtextileactuatorsforsoftwearablerobots AT fatmakalaoglu effectofsegmenttypesoncharacterizationofsoftsensingtextileactuatorsforsoftwearablerobots AT aslituncayatalay effectofsegmenttypesoncharacterizationofsoftsensingtextileactuatorsforsoftwearablerobots AT gokhanince effectofsegmenttypesoncharacterizationofsoftsensingtextileactuatorsforsoftwearablerobots AT ozguratalay effectofsegmenttypesoncharacterizationofsoftsensingtextileactuatorsforsoftwearablerobots |