TY - GEN
T1 - Design, Characterization, and Mechanical Programming of Fabric-Reinforced Textile Actuators for a Soft Robotic Hand
AU - Nguyen, Pham H.
AU - Lopez-Arellano, Francisco
AU - Zhang, Wenlong
AU - Polygerinos, Panagiotis
N1 - Funding Information:
This work was suppored in part by the National Science Foundation under grant CMMI-1800940. P. H. Nguyen, W. Zhang, and P. Polygerinos are with the Polytechnic School, Ira A. Fulton Schools of Engineering, Arizona State University, Mesa, AZ 85212, USA. nhpham2@asu.edu; wenlong.zhang@asu.edu; polygerinos@asu.edu F. L. Arellano is with The School of Biological Health Systems Engineering, Ira A. Fulton Schools of Engineering, Arizona State University, Tempe, AZ 85281, USA. flopezar@asu.edu + P. H. Nguyen and F. L. Arellano are equally contributing authors. ∗ Address all correspondence to this author.
Publisher Copyright:
© 2019 IEEE.
PY - 2019/11
Y1 - 2019/11
N2 - In this paper, we present the design, fabrication, and evaluation of robust, fabric-reinforced textile actuators, which are capable of performing a variety and combination of motions, such as axial extension, radial expansion, bending, and twisting along its central axis. A simple fabrication procedure using a combination of lamination and sewing is described. The relationship between the fabric reinforcement characteristics and the actuator deformation is studied and experimentally verified. Multi-segment actuators can be created by tailoring different sections of fabric-reinforcements together in order to generate combination of motions to perform specific tasks. We demonstrate this by designing an anthropomorphic soft robotic hand and providing preliminary evaluations on grasping daily living objects of various size and shapes.
AB - In this paper, we present the design, fabrication, and evaluation of robust, fabric-reinforced textile actuators, which are capable of performing a variety and combination of motions, such as axial extension, radial expansion, bending, and twisting along its central axis. A simple fabrication procedure using a combination of lamination and sewing is described. The relationship between the fabric reinforcement characteristics and the actuator deformation is studied and experimentally verified. Multi-segment actuators can be created by tailoring different sections of fabric-reinforcements together in order to generate combination of motions to perform specific tasks. We demonstrate this by designing an anthropomorphic soft robotic hand and providing preliminary evaluations on grasping daily living objects of various size and shapes.
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U2 - 10.1109/IROS40897.2019.8968497
DO - 10.1109/IROS40897.2019.8968497
M3 - Conference contribution
AN - SCOPUS:85081163320
T3 - IEEE International Conference on Intelligent Robots and Systems
SP - 8312
EP - 8317
BT - 2019 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2019
PB - Institute of Electrical and Electronics Engineers Inc.
T2 - 2019 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2019
Y2 - 3 November 2019 through 8 November 2019
ER -