Biomimetic Artificial Joints Based on Multi-Material Pneumatic Actuators Developed for Soft Robotic Finger Application
To precisely achieve a series of daily finger bending motions, a soft robotic finger corresponding to the anatomical range of each joint was designed in this study with multi-material pneumatic actuators. The actuator as a biomimetic artificial joint was developed on the basis of two composite mater...
| Main Authors: | , , , , , , , |
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| Format: | Article |
| Language: | English |
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MDPI AG
2021-12-01
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| Series: | Micromachines |
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| Online Access: | https://www.mdpi.com/2072-666X/12/12/1593 |
| _version_ | 1827671099638284288 |
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| author | Shumi Zhao Yisong Lei Ziwen Wang Jie Zhang Jianxun Liu Pengfei Zheng Zidan Gong Yue Sun |
| author_facet | Shumi Zhao Yisong Lei Ziwen Wang Jie Zhang Jianxun Liu Pengfei Zheng Zidan Gong Yue Sun |
| author_sort | Shumi Zhao |
| collection | DOAJ |
| description | To precisely achieve a series of daily finger bending motions, a soft robotic finger corresponding to the anatomical range of each joint was designed in this study with multi-material pneumatic actuators. The actuator as a biomimetic artificial joint was developed on the basis of two composite materials of different shear modules, and the pneumatic bellows as expansion parts was restricted by frame that made from polydimethylsiloxane (PDMS). A simplified mathematical model was used for the bending mechanism description and provides guidance for the multi-material pneumatic actuator fabrication (e.g., stiffness and thickness) and structural design (e.g., cross length and chamber radius), as well as the control parameter optimization (e.g., the air pressure supply). An actuation pressure of over 70 kPa is required by the developed soft robotic finger to provide a full motion range (MCP = 36°, PIP = 114°, and DIP = 75°) for finger action mimicking. In conclusion, a multi-material pneumatic actuator was designed and developed for soft robotic finger application and theoretically and experimentally demonstrated its feasibility in finger action mimicking. This study explored the mechanical properties of the actuator and could provide evidence-based technical parameters for pneumatic robotic finger design and precise control of its dynamic air pressure dosages in mimicking actions. Thereby, the conclusion was supported by the results theoretically and experimentally, which also aligns with our aim to design and develop a multi-material pneumatic actuator as a biomimetic artificial joint for soft robotic finger application. |
| first_indexed | 2024-03-10T03:32:28Z |
| format | Article |
| id | doaj.art-8f00a028eed54afea4f21c9141f982e1 |
| institution | Directory Open Access Journal |
| issn | 2072-666X |
| language | English |
| last_indexed | 2024-03-10T03:32:28Z |
| publishDate | 2021-12-01 |
| publisher | MDPI AG |
| record_format | Article |
| series | Micromachines |
| spelling | doaj.art-8f00a028eed54afea4f21c9141f982e12023-11-23T09:37:30ZengMDPI AGMicromachines2072-666X2021-12-011212159310.3390/mi12121593Biomimetic Artificial Joints Based on Multi-Material Pneumatic Actuators Developed for Soft Robotic Finger ApplicationShumi Zhao0Yisong Lei1Ziwen Wang2Jie Zhang3Jianxun Liu4Pengfei Zheng5Zidan Gong6Yue Sun7Hefei Comprehensive National Science Center, Institute of Artificial Intelligence, Hefei 230026, ChinaSino-German College of Intelligent Manufacturing, Shenzhen Technology University, Shenzhen 518118, ChinaSino-German College of Intelligent Manufacturing, Shenzhen Technology University, Shenzhen 518118, ChinaSino-German College of Intelligent Manufacturing, Shenzhen Technology University, Shenzhen 518118, ChinaSino-German College of Intelligent Manufacturing, Shenzhen Technology University, Shenzhen 518118, ChinaSino-German College of Intelligent Manufacturing, Shenzhen Technology University, Shenzhen 518118, ChinaSino-German College of Intelligent Manufacturing, Shenzhen Technology University, Shenzhen 518118, ChinaSchool of Fashion Design & Engineering, Zhejiang Sci-Tech University, Hangzhou 310018, ChinaTo precisely achieve a series of daily finger bending motions, a soft robotic finger corresponding to the anatomical range of each joint was designed in this study with multi-material pneumatic actuators. The actuator as a biomimetic artificial joint was developed on the basis of two composite materials of different shear modules, and the pneumatic bellows as expansion parts was restricted by frame that made from polydimethylsiloxane (PDMS). A simplified mathematical model was used for the bending mechanism description and provides guidance for the multi-material pneumatic actuator fabrication (e.g., stiffness and thickness) and structural design (e.g., cross length and chamber radius), as well as the control parameter optimization (e.g., the air pressure supply). An actuation pressure of over 70 kPa is required by the developed soft robotic finger to provide a full motion range (MCP = 36°, PIP = 114°, and DIP = 75°) for finger action mimicking. In conclusion, a multi-material pneumatic actuator was designed and developed for soft robotic finger application and theoretically and experimentally demonstrated its feasibility in finger action mimicking. This study explored the mechanical properties of the actuator and could provide evidence-based technical parameters for pneumatic robotic finger design and precise control of its dynamic air pressure dosages in mimicking actions. Thereby, the conclusion was supported by the results theoretically and experimentally, which also aligns with our aim to design and develop a multi-material pneumatic actuator as a biomimetic artificial joint for soft robotic finger application.https://www.mdpi.com/2072-666X/12/12/1593biomimetic artificial jointsmulti-material actuatorpneumatic bellowsmathematical modelsoft robotic finger |
| spellingShingle | Shumi Zhao Yisong Lei Ziwen Wang Jie Zhang Jianxun Liu Pengfei Zheng Zidan Gong Yue Sun Biomimetic Artificial Joints Based on Multi-Material Pneumatic Actuators Developed for Soft Robotic Finger Application Micromachines biomimetic artificial joints multi-material actuator pneumatic bellows mathematical model soft robotic finger |
| title | Biomimetic Artificial Joints Based on Multi-Material Pneumatic Actuators Developed for Soft Robotic Finger Application |
| title_full | Biomimetic Artificial Joints Based on Multi-Material Pneumatic Actuators Developed for Soft Robotic Finger Application |
| title_fullStr | Biomimetic Artificial Joints Based on Multi-Material Pneumatic Actuators Developed for Soft Robotic Finger Application |
| title_full_unstemmed | Biomimetic Artificial Joints Based on Multi-Material Pneumatic Actuators Developed for Soft Robotic Finger Application |
| title_short | Biomimetic Artificial Joints Based on Multi-Material Pneumatic Actuators Developed for Soft Robotic Finger Application |
| title_sort | biomimetic artificial joints based on multi material pneumatic actuators developed for soft robotic finger application |
| topic | biomimetic artificial joints multi-material actuator pneumatic bellows mathematical model soft robotic finger |
| url | https://www.mdpi.com/2072-666X/12/12/1593 |
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