Exploiting Textile Mechanical Anisotropy for Fabric-Based Pneumatic Actuators

Soft Robotics
Leonardo CappelloConor J Walsh

Abstract

Knit, woven, and nonwoven fabrics offer a diverse range of stretch and strain limiting mechanical properties that can be leveraged to produce tailored, whole-body deformation mechanics of soft robotic systems. This work presents new insights and methods for combining heterogeneous fabric material layers to create soft fabric-based actuators. This work demonstrates that a range of multi-degree-of-freedom motions can be generated by varying fabrics and their layered arrangements when a thin airtight bladder is inserted between them and inflated. Specifically, we present bending and straightening fabric-based actuators that are simple to manufacture, lightweight, require low operating pressures, display a high torque-to-weight ratio, and occupy a low volume in their unpressurized state. Their utility is demonstrated through their integration into a glove that actively assists hand opening and closing.

References

Jun 1, 1986·IEEE Transactions on Pattern Analysis and Machine Intelligence·J Canny
Nov 30, 2011·Proceedings of the National Academy of Sciences of the United States of America·Robert F ShepherdGeorge M Whitesides
Nov 15, 2013·Advanced Materials·Ellen T RocheConor J Walsh
Jul 15, 2015·Science·Nicholas W BartlettRobert J Wood
Sep 15, 2016·Soft Robotics·Kevin C GallowayDavid F Gruber
Dec 21, 2016·Proceedings of the National Academy of Sciences of the United States of America·Fionnuala ConnollyKatia Bertoldi
Jun 30, 2018·Journal of Neuroengineering and Rehabilitation·Leonardo CappelloConor J Walsh

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Citations

Jul 6, 2019·Advanced Materials·Jidong ShiXiaoming Tao
Jun 30, 2018·Journal of Neuroengineering and Rehabilitation·Leonardo CappelloConor J Walsh
Aug 3, 2019·Nature Communications·Sang Yup KimRebecca Kramer-Bottiglio
Jul 6, 2019·Frontiers in Neurorobotics·Michele XiloyannisLorenzo Masia
Jan 7, 2020·Soft Robotics·Mengjia ZhuYon Visell
May 21, 2019·Biomimetics·Akhil KandhariKathryn A Daltorio
Mar 18, 2020·Frontiers in Bioengineering and Biotechnology·Ho Lam HeungZheng Li
Jun 9, 2020·Frontiers in Bioengineering and Biotechnology·Mohammad FatahillahHugo Rodrigue
Jan 23, 2021·Soft Robotics·Ciarán T O'NeillConor J Walsh
Jul 27, 2021·Frontiers in Robotics and AI·Peter LloydPietro Valdastri
Sep 17, 2021·Bioinspiration & Biomimetics·Facundo Gutierrez, Khashayar Razghandi

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Software Mentioned

Simulink Real - Time
DeclareMathSizes
MathWorks

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