High‐Speed and Low‐Energy Actuation for Pneumatic Soft Robots with Internal Exhaust Air Recirculation
Multichamber soft pneumatic actuators (m‐SPAs) are widely used in soft robotic systems to achieve versatile grasping and locomotion. However, existing m‐SPAs have slow actuation speed and are either limited by a finite air supply or require energy‐consuming hardware to continuously supply compressed...
| Main Authors: | , , , |
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| Format: | Article |
| Language: | English |
| Published: |
Wiley
2023-04-01
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| Series: | Advanced Intelligent Systems |
| Subjects: | |
| Online Access: | https://doi.org/10.1002/aisy.202200257 |
| _version_ | 1827962833757798400 |
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| author | Miao Feng Dezhi Yang Carmel Majidi Guoying Gu |
| author_facet | Miao Feng Dezhi Yang Carmel Majidi Guoying Gu |
| author_sort | Miao Feng |
| collection | DOAJ |
| description | Multichamber soft pneumatic actuators (m‐SPAs) are widely used in soft robotic systems to achieve versatile grasping and locomotion. However, existing m‐SPAs have slow actuation speed and are either limited by a finite air supply or require energy‐consuming hardware to continuously supply compressed air. Herein, these shortcomings by introducing an internal exhaust air recirculation (IEAR) mechanism for high‐speed and low‐energy actuation of m‐SPAs are addressed. This mechanism recirculates the exhaust compressed air and recovers the energy by harnessing the rhythmic actuation of multiple chambers. A theoretical model to guide the analysis of the IEAR mechanism, which agrees well with the experimental results, is developed. Comparative experimental results of several sets of m‐SPAs show that the IEAR mechanism significantly improves the actuation speed by more than 82.4% and reduces the energy consumption per cycle by more than 47.7% under typical conditions. The promising applications of the IEAR mechanism in various pneumatic soft machines and robots such as a robotic fin, fabric‐based finger, and quadruped robot are further demonstrated. An interactive preprint version of the article can be found at: https://doi.org/10.22541/au.166428178.80668101/v1. |
| first_indexed | 2024-04-09T16:49:09Z |
| format | Article |
| id | doaj.art-804fefa7459d46a8bd0cd9e39f7bace5 |
| institution | Directory Open Access Journal |
| issn | 2640-4567 |
| language | English |
| last_indexed | 2024-04-09T16:49:09Z |
| publishDate | 2023-04-01 |
| publisher | Wiley |
| record_format | Article |
| series | Advanced Intelligent Systems |
| spelling | doaj.art-804fefa7459d46a8bd0cd9e39f7bace52023-04-22T02:52:33ZengWileyAdvanced Intelligent Systems2640-45672023-04-0154n/an/a10.1002/aisy.202200257High‐Speed and Low‐Energy Actuation for Pneumatic Soft Robots with Internal Exhaust Air RecirculationMiao Feng0Dezhi Yang1Carmel Majidi2Guoying Gu3Robotics Institute School of Mechanical Engineering Shanghai Jiao Tong University Shanghai 200240 ChinaRobotics Institute School of Mechanical Engineering Shanghai Jiao Tong University Shanghai 200240 ChinaSoft Machines Lab Carnegie Mellon University Pittsburgh PA 15213 USARobotics Institute School of Mechanical Engineering Shanghai Jiao Tong University Shanghai 200240 ChinaMultichamber soft pneumatic actuators (m‐SPAs) are widely used in soft robotic systems to achieve versatile grasping and locomotion. However, existing m‐SPAs have slow actuation speed and are either limited by a finite air supply or require energy‐consuming hardware to continuously supply compressed air. Herein, these shortcomings by introducing an internal exhaust air recirculation (IEAR) mechanism for high‐speed and low‐energy actuation of m‐SPAs are addressed. This mechanism recirculates the exhaust compressed air and recovers the energy by harnessing the rhythmic actuation of multiple chambers. A theoretical model to guide the analysis of the IEAR mechanism, which agrees well with the experimental results, is developed. Comparative experimental results of several sets of m‐SPAs show that the IEAR mechanism significantly improves the actuation speed by more than 82.4% and reduces the energy consumption per cycle by more than 47.7% under typical conditions. The promising applications of the IEAR mechanism in various pneumatic soft machines and robots such as a robotic fin, fabric‐based finger, and quadruped robot are further demonstrated. An interactive preprint version of the article can be found at: https://doi.org/10.22541/au.166428178.80668101/v1.https://doi.org/10.1002/aisy.202200257actuation speedsair recirculationenergy efficienciespneumatic actuatorssoft robots |
| spellingShingle | Miao Feng Dezhi Yang Carmel Majidi Guoying Gu High‐Speed and Low‐Energy Actuation for Pneumatic Soft Robots with Internal Exhaust Air Recirculation Advanced Intelligent Systems actuation speeds air recirculation energy efficiencies pneumatic actuators soft robots |
| title | High‐Speed and Low‐Energy Actuation for Pneumatic Soft Robots with Internal Exhaust Air Recirculation |
| title_full | High‐Speed and Low‐Energy Actuation for Pneumatic Soft Robots with Internal Exhaust Air Recirculation |
| title_fullStr | High‐Speed and Low‐Energy Actuation for Pneumatic Soft Robots with Internal Exhaust Air Recirculation |
| title_full_unstemmed | High‐Speed and Low‐Energy Actuation for Pneumatic Soft Robots with Internal Exhaust Air Recirculation |
| title_short | High‐Speed and Low‐Energy Actuation for Pneumatic Soft Robots with Internal Exhaust Air Recirculation |
| title_sort | high speed and low energy actuation for pneumatic soft robots with internal exhaust air recirculation |
| topic | actuation speeds air recirculation energy efficiencies pneumatic actuators soft robots |
| url | https://doi.org/10.1002/aisy.202200257 |
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