Soft robotic actuator design with pneumatic muscles
This study presents the design of a soft robotic actuator to serve as a medically assisted rehabilitation device. The actuator was to be mounted on a human arm, and it had pneumatic muscles connecting onto it. The pneumatic muscles were supposed to provide a force on the actuator to reduce force req...
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| Other Authors: | |
| Format: | Final Year Project (FYP) |
| Language: | English |
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Nanyang Technological University
2023
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| Online Access: | https://hdl.handle.net/10356/167337 |
| _version_ | 1826129733597790208 |
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| author | Sun, Shujian |
| author2 | Yifan Wang |
| author_facet | Yifan Wang Sun, Shujian |
| author_sort | Sun, Shujian |
| collection | NTU |
| description | This study presents the design of a soft robotic actuator to serve as a medically assisted rehabilitation device. The actuator was to be mounted on a human arm, and it had pneumatic muscles connecting onto it. The pneumatic muscles were supposed to provide a force on the actuator to reduce force required by the human arm when the person wearing the actuator was trying to lift some objects.
This report introduces how the soft robotic actuator was designed and how were the pneumatic muscles connecting onto the actuator. A prototype was built, and various experiments were conducted to study the optimal positions and sizes of pneumatic muscles on the actuator. The patterns of lengths change, and forces generated by different sizes of pneumatic muscles were studied to make the actuator provide larger force reduction. Automation sensing system was implemented on the actuator to provide a smarter controlling method of the actuator, and it would also be introduced and discussed in this report. |
| first_indexed | 2024-10-01T07:45:02Z |
| format | Final Year Project (FYP) |
| id | ntu-10356/167337 |
| institution | Nanyang Technological University |
| language | English |
| last_indexed | 2024-10-01T07:45:02Z |
| publishDate | 2023 |
| publisher | Nanyang Technological University |
| record_format | dspace |
| spelling | ntu-10356/1673372023-05-27T16:50:13Z Soft robotic actuator design with pneumatic muscles Sun, Shujian Yifan Wang School of Mechanical and Aerospace Engineering yifan.wang@ntu.edu.sg Engineering::Mechanical engineering This study presents the design of a soft robotic actuator to serve as a medically assisted rehabilitation device. The actuator was to be mounted on a human arm, and it had pneumatic muscles connecting onto it. The pneumatic muscles were supposed to provide a force on the actuator to reduce force required by the human arm when the person wearing the actuator was trying to lift some objects. This report introduces how the soft robotic actuator was designed and how were the pneumatic muscles connecting onto the actuator. A prototype was built, and various experiments were conducted to study the optimal positions and sizes of pneumatic muscles on the actuator. The patterns of lengths change, and forces generated by different sizes of pneumatic muscles were studied to make the actuator provide larger force reduction. Automation sensing system was implemented on the actuator to provide a smarter controlling method of the actuator, and it would also be introduced and discussed in this report. Bachelor of Engineering (Mechanical Engineering) 2023-05-24T06:17:27Z 2023-05-24T06:17:27Z 2023 Final Year Project (FYP) Sun, S. (2023). Soft robotic actuator design with pneumatic muscles. Final Year Project (FYP), Nanyang Technological University, Singapore. https://hdl.handle.net/10356/167337 https://hdl.handle.net/10356/167337 en A133 application/pdf Nanyang Technological University |
| spellingShingle | Engineering::Mechanical engineering Sun, Shujian Soft robotic actuator design with pneumatic muscles |
| title | Soft robotic actuator design with pneumatic muscles |
| title_full | Soft robotic actuator design with pneumatic muscles |
| title_fullStr | Soft robotic actuator design with pneumatic muscles |
| title_full_unstemmed | Soft robotic actuator design with pneumatic muscles |
| title_short | Soft robotic actuator design with pneumatic muscles |
| title_sort | soft robotic actuator design with pneumatic muscles |
| topic | Engineering::Mechanical engineering |
| url | https://hdl.handle.net/10356/167337 |
| work_keys_str_mv | AT sunshujian softroboticactuatordesignwithpneumaticmuscles |