Orion Ramos
Assessment of soft actuators for hand exoskeletons: Pleated textile actuators and fiber-reinforced Silicone actuators
Ramos, Orion; Múnera, Marcela; Moazen, Mehran; Wurdemann, Helge; Cifuentes, Carlos A
Authors
Marcela Múnera
Mehran Moazen
Helge Wurdemann
Carlos A Cifuentes
Abstract
Soft robotic approaches have been trialed for rehabilitation or assistive hand exoskeletons using silicone or textile actuators because they have more tolerance for alignment with biological joints than rigid exoskeletons. Textile actuators have not been previously evaluated, and this study compares the mechanical properties of textile and silicone actuators used in hand exoskeletons. The physical dimensions, the air pressure required to achieve a full bending motion, and the forces generated at the tip of the actuator were measured and compared. The results showed that the construction method of the silicone actuators is slower than the textile actuators, but it generates better dimensional accuracy. However, the air pressure required for the actuators to generate a full bending motion is significantly lower for textile actuators, and the blocking force generated at that pressure is 35% higher in the textile actuators. There are significant differences across all variables compared, indicating that actuators constructed using pleated textile techniques have greater potential for the construction of an exoskeleton for hand rehabilitation or assistance.
Citation
Ramos, O., Múnera, M., Moazen, M., Wurdemann, H., & Cifuentes, C. A. (2022). Assessment of soft actuators for hand exoskeletons: Pleated textile actuators and fiber-reinforced Silicone actuators. Frontiers in Bioengineering and Biotechnology, 10, https://doi.org/10.3389/fbioe.2022.924888
Journal Article Type | Article |
---|---|
Acceptance Date | Jun 10, 2022 |
Online Publication Date | Jul 12, 2022 |
Publication Date | Jul 12, 2022 |
Deposit Date | Jul 18, 2022 |
Publicly Available Date | Jul 19, 2022 |
Journal | Frontiers in Bioengineering and Biotechnology |
Electronic ISSN | 2296-4185 |
Publisher | Frontiers Media |
Peer Reviewed | Peer Reviewed |
Volume | 10 |
DOI | https://doi.org/10.3389/fbioe.2022.924888 |
Keywords | assessment; soft actuators; soft robotics; fiber-reinforced; textile actuator; hand exoskeleton |
Public URL | https://uwe-repository.worktribe.com/output/9709243 |
Publisher URL | https://www.frontiersin.org/articles/10.3389/fbioe.2022.924888/full |
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Assessment of soft actuators for hand exoskeletons: Pleated textile actuators and fiber-reinforced Silicone actuators
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Licence
http://creativecommons.org/licenses/by/4.0/
Publisher Licence URL
http://creativecommons.org/licenses/by/4.0/
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