Augmented Joint Stiffness and Actuation Using Architectures of Soft Pneumatic Actuators

Nicholas Thompson, Xiaotian Zhang, Fernando Ayala, Elizabeth T Hsiao-Wecksler, Girish Krishnan

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

Abstract

Soft robotic actuators are well suited for use in exoskeleton applications due to their innate compliance and low weight. We have developed a wearable soft robotic sleeve that uses fiber reinforced elastomeric enclosures (FREEs) to provide actuation and stiffness at the elbow for augmented lifting and carrying ability. The sleeve includes novel linear and helical actuator architectures to induce and resist joint movement respectively, and is intended to be comfortable, lightweight, and low profile. We developed test protocols to measure actuation and stiffness performance of different helical and linear architectures, and to compare helical and linear actuator groups when used individually and together. Our findings indicate that nested linear actuators have superior contraction ratios compared to parallel linear actuators, resulting in greater angular displacement. Stiffness from helical actuators increased with pressure and number of parallel actuators. A combined linear-helical actuator configuration considerably outperformed helical and linear actuator groups when used on their own.

Original languageEnglish (US)
Title of host publication2018 IEEE International Conference on Robotics and Automation, ICRA 2018
PublisherInstitute of Electrical and Electronics Engineers Inc.
Pages1533-1538
Number of pages6
ISBN (Electronic)9781538630815
DOIs
StatePublished - Sep 10 2018
Event2018 IEEE International Conference on Robotics and Automation, ICRA 2018 - Brisbane, Australia
Duration: May 21 2018May 25 2018

Publication series

NameProceedings - IEEE International Conference on Robotics and Automation
ISSN (Print)1050-4729

Conference

Conference2018 IEEE International Conference on Robotics and Automation, ICRA 2018
CountryAustralia
CityBrisbane
Period5/21/185/25/18

Fingerprint

Pneumatic actuators
Linear actuators
Actuators
Stiffness
Robotics
Enclosures
Fibers

ASJC Scopus subject areas

  • Software
  • Control and Systems Engineering
  • Artificial Intelligence
  • Electrical and Electronic Engineering

Cite this

Thompson, N., Zhang, X., Ayala, F., Hsiao-Wecksler, E. T., & Krishnan, G. (2018). Augmented Joint Stiffness and Actuation Using Architectures of Soft Pneumatic Actuators. In 2018 IEEE International Conference on Robotics and Automation, ICRA 2018 (pp. 1533-1538). [8460746] (Proceedings - IEEE International Conference on Robotics and Automation). Institute of Electrical and Electronics Engineers Inc.. https://doi.org/10.1109/ICRA.2018.8460746

Augmented Joint Stiffness and Actuation Using Architectures of Soft Pneumatic Actuators. / Thompson, Nicholas; Zhang, Xiaotian; Ayala, Fernando; Hsiao-Wecksler, Elizabeth T; Krishnan, Girish.

2018 IEEE International Conference on Robotics and Automation, ICRA 2018. Institute of Electrical and Electronics Engineers Inc., 2018. p. 1533-1538 8460746 (Proceedings - IEEE International Conference on Robotics and Automation).

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

Thompson, N, Zhang, X, Ayala, F, Hsiao-Wecksler, ET & Krishnan, G 2018, Augmented Joint Stiffness and Actuation Using Architectures of Soft Pneumatic Actuators. in 2018 IEEE International Conference on Robotics and Automation, ICRA 2018., 8460746, Proceedings - IEEE International Conference on Robotics and Automation, Institute of Electrical and Electronics Engineers Inc., pp. 1533-1538, 2018 IEEE International Conference on Robotics and Automation, ICRA 2018, Brisbane, Australia, 5/21/18. https://doi.org/10.1109/ICRA.2018.8460746
Thompson N, Zhang X, Ayala F, Hsiao-Wecksler ET, Krishnan G. Augmented Joint Stiffness and Actuation Using Architectures of Soft Pneumatic Actuators. In 2018 IEEE International Conference on Robotics and Automation, ICRA 2018. Institute of Electrical and Electronics Engineers Inc. 2018. p. 1533-1538. 8460746. (Proceedings - IEEE International Conference on Robotics and Automation). https://doi.org/10.1109/ICRA.2018.8460746
Thompson, Nicholas ; Zhang, Xiaotian ; Ayala, Fernando ; Hsiao-Wecksler, Elizabeth T ; Krishnan, Girish. / Augmented Joint Stiffness and Actuation Using Architectures of Soft Pneumatic Actuators. 2018 IEEE International Conference on Robotics and Automation, ICRA 2018. Institute of Electrical and Electronics Engineers Inc., 2018. pp. 1533-1538 (Proceedings - IEEE International Conference on Robotics and Automation).
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