Architectures of soft pneumatic actuators inspired by muscle fiber arrangements

Sreeshankar Satheeshbabu, Nicholas Thompson, Chenzhang Xiao, Girish Krishnan

Research output: Chapter in Book/Report/Conference proceedingConference contribution

Abstract

Architectures or networks are prevalent in both engineered and nature's material systems, where a single unit cell is topologically combined in a repeatable fashion to attain extremal global properties. In this paper, we work towards understanding one such architecture inspired by pennation, which is commonly found in skeletal muscles to tailor its stroke and force properties. To mimic muscle fibers, we use soft compliant pneumatic actuators called Fiber Reinforced Elastomeric Enclosures (FREEs) to generate force and stroke. The FREEs are combined in a dyadic configuration to create an engineered equivalent of pennate muscles called a pennate building block (PBB). The study of the PBB reveals critical pennate angles that produce high stroke and force values respectively. The PBB thus acts as an equivalent of a gear and other transmission elements in soft robotics. Lastly, two variant of the pennate architecture are analyzed for their force deformation capabilities and the results are used to design and experimentally validate two prototypes geared towards different applications thereby highlighting the benefits of leveraging architectures for tuning global properties.

Original languageEnglish (US)
Title of host publicationRoboSoft 2019 - 2019 IEEE International Conference on Soft Robotics
PublisherInstitute of Electrical and Electronics Engineers Inc.
Pages271-276
Number of pages6
ISBN (Electronic)9781538692608
DOIs
StatePublished - May 24 2019
Event2019 IEEE International Conference on Soft Robotics, RoboSoft 2019 - Seoul, Korea, Republic of
Duration: Apr 14 2019Apr 18 2019

Publication series

NameRoboSoft 2019 - 2019 IEEE International Conference on Soft Robotics

Conference

Conference2019 IEEE International Conference on Soft Robotics, RoboSoft 2019
CountryKorea, Republic of
CitySeoul
Period4/14/194/18/19

ASJC Scopus subject areas

  • Materials Science (miscellaneous)
  • Artificial Intelligence
  • Mechanical Engineering
  • Control and Optimization

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