Propulsion-Based Soft Robotic Actuation
The use of air propulsion to drive limb motion in soft robotics has been a largely untapped field even though the technology has been around since the 1700s. Air propulsion can generate greater degrees of motion in limb actuators compared to widely-experimented pneumatic actuators operating on expan...
| Main Authors: | , |
|---|---|
| Format: | Article |
| Language: | English |
| Published: |
MDPI AG
2017-11-01
|
| Series: | Robotics |
| Subjects: | |
| Online Access: | https://www.mdpi.com/2218-6581/6/4/34 |
| _version_ | 1811298433029373952 |
|---|---|
| author | Matthew Chin Heng Chua Raye Chen Hua Yeow |
| author_facet | Matthew Chin Heng Chua Raye Chen Hua Yeow |
| author_sort | Matthew Chin Heng Chua |
| collection | DOAJ |
| description | The use of air propulsion to drive limb motion in soft robotics has been a largely untapped field even though the technology has been around since the 1700s. Air propulsion can generate greater degrees of motion in limb actuators compared to widely-experimented pneumatic actuators operating on expandable air channels, which are limited by air pressure input, minimum size and cyclic fatigue. To demonstrate the application of air propulsion in soft robotics motion, we developed a 3D-printed, tri-pedal, soft, air-driven robot that can perform biomimetic motions such as flexion and extension of limbs, crawling, rotation, grasping, kicking and picking of objects. To accomplish air-propelled actuation, milli-scale channels are incorporated throughout each limb that guides the pressurized air inflow to outlets of different directions. A Finite Element Model (FEM) approach to simulate the bending response of the limb due to varying pressure is proposed and evaluated. This study introduces the potential of using air propulsion as an alternate form of soft body actuation for longer cyclic lifespan and increased maximum air pressure input. |
| first_indexed | 2024-04-13T06:19:13Z |
| format | Article |
| id | doaj.art-9e4afff869ac4adf8cea89a81894ec39 |
| institution | Directory Open Access Journal |
| issn | 2218-6581 |
| language | English |
| last_indexed | 2024-04-13T06:19:13Z |
| publishDate | 2017-11-01 |
| publisher | MDPI AG |
| record_format | Article |
| series | Robotics |
| spelling | doaj.art-9e4afff869ac4adf8cea89a81894ec392022-12-22T02:58:42ZengMDPI AGRobotics2218-65812017-11-01643410.3390/robotics6040034robotics6040034Propulsion-Based Soft Robotic ActuationMatthew Chin Heng Chua0Raye Chen Hua Yeow1Institute of Systems Science, National University of Singapore, Singapore 119615, SingaporeDepartment of Biomedical Engineering, National University of Singapore, Singapore 117575, SingaporeThe use of air propulsion to drive limb motion in soft robotics has been a largely untapped field even though the technology has been around since the 1700s. Air propulsion can generate greater degrees of motion in limb actuators compared to widely-experimented pneumatic actuators operating on expandable air channels, which are limited by air pressure input, minimum size and cyclic fatigue. To demonstrate the application of air propulsion in soft robotics motion, we developed a 3D-printed, tri-pedal, soft, air-driven robot that can perform biomimetic motions such as flexion and extension of limbs, crawling, rotation, grasping, kicking and picking of objects. To accomplish air-propelled actuation, milli-scale channels are incorporated throughout each limb that guides the pressurized air inflow to outlets of different directions. A Finite Element Model (FEM) approach to simulate the bending response of the limb due to varying pressure is proposed and evaluated. This study introduces the potential of using air propulsion as an alternate form of soft body actuation for longer cyclic lifespan and increased maximum air pressure input.https://www.mdpi.com/2218-6581/6/4/34soft roboticspneumatic-driven3D-printedbiomimeticdesign and modelling |
| spellingShingle | Matthew Chin Heng Chua Raye Chen Hua Yeow Propulsion-Based Soft Robotic Actuation Robotics soft robotics pneumatic-driven 3D-printed biomimetic design and modelling |
| title | Propulsion-Based Soft Robotic Actuation |
| title_full | Propulsion-Based Soft Robotic Actuation |
| title_fullStr | Propulsion-Based Soft Robotic Actuation |
| title_full_unstemmed | Propulsion-Based Soft Robotic Actuation |
| title_short | Propulsion-Based Soft Robotic Actuation |
| title_sort | propulsion based soft robotic actuation |
| topic | soft robotics pneumatic-driven 3D-printed biomimetic design and modelling |
| url | https://www.mdpi.com/2218-6581/6/4/34 |
| work_keys_str_mv | AT matthewchinhengchua propulsionbasedsoftroboticactuation AT rayechenhuayeow propulsionbasedsoftroboticactuation |