Design and Computational Modeling of Fabric Soft Pneumatic Actuators for Wearable Assistive Devices

Assistive wearable soft robotic systems have recently made a surge in the field of biomedical robotics, as soft materials allow safe and transparent interactions between the users and devices. A recent interest in the field of soft pneumatic actuators (SPAs) has been the introduction of a new class of actuators called fabric soft pneumatic actuators (FSPAs). These actuators exploit the unique capabilities of different woven and knit textiles, including zero initial stiffness, full collapsibility, high power-to-weight ratio, puncture resistant, and high stretchability. By using 2D manufacturing methods we are able to create actuators that can extend, contract, twist, bend, and perform a combination of these motions in 3D space. This paper presents a comprehensive simulation and design tool for various types of FSPAs using finite element method (FEM) models. The FEM models are developed and experimentally validated, in order to capture the complex non-linear behavior of individual actuators optimized for free displacement and blocked force, applicable for wearable assistive tasks.

[1]  Jamie Paik,et al.  Modeling, Design, and Development of Soft Pneumatic Actuators with Finite Element Method   , 2016 .

[2]  D. Floreano,et al.  Soft Robotic Grippers , 2018, Advanced materials.

[3]  Kevin C. Galloway,et al.  Exploiting Textile Mechanical Anisotropy for Fabric-Based Pneumatic Actuators. , 2018, Soft robotics.

[4]  P. Reis,et al.  Soft Actuation of Structured Cylinders through Auxetic Behavior , 2015 .

[5]  Daniela Rus,et al.  Pouch Motors: Printable/inflatable soft actuators for robotics , 2014, 2014 IEEE International Conference on Robotics and Automation (ICRA).

[6]  Hanumant Singh,et al.  Inexpensive, small AUVs for studying ice-covered polar environments , 2017, Science Robotics.

[7]  Geoffrey M. Spinks,et al.  Torsional artificial muscles , 2020 .

[8]  Panagiotis Polygerinos,et al.  Design and Development of a Soft Robotic Back Orthosis , 2018 .

[9]  Carmel Majidi,et al.  Bio-inspired soft robotics: Material selection, actuation, and design , 2018, Extreme Mechanics Letters.

[10]  Stephen A. Morin,et al.  Soft Robotics: Review of Fluid‐Driven Intrinsically Soft Devices; Manufacturing, Sensing, Control, and Applications in Human‐Robot Interaction   , 2017 .

[11]  Yong-Lae Park,et al.  A Lightweight, Soft Wearable Sleeve for Rehabilitation of Forearm Pronation and Supination , 2019, 2019 2nd IEEE International Conference on Soft Robotics (RoboSoft).

[12]  Yoel Shapiro,et al.  Bi-bellows: Pneumatic bending actuator , 2011 .

[13]  Panagiotis Polygerinos,et al.  A Novel Soft Elbow Exosuit to Supplement Bicep Lifting Capacity , 2018, 2018 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS).

[14]  YapHong Kai,et al.  High-Force Soft Printable Pneumatics for Soft Robotic Applications , 2016 .

[15]  Manuel Delgado-Restituto,et al.  Review of the State of the Art , 2013 .

[16]  Conor J. Walsh,et al.  Sew-free anisotropic textile composites for rapid design and manufacturing of soft wearable robots , 2019, Extreme Mechanics Letters.

[17]  G. A. Naselli,et al.  INFORA: A Novel Inflatable Origami-based Actuator , 2019, 2019 International Conference on Robotics and Automation (ICRA).

[18]  Yasutaka Nishioka,et al.  Development of a pneumatic soft actuator with pleated inflatable structures , 2017, Adv. Robotics.

[19]  G. Whitesides,et al.  Elastomeric Origami: Programmable Paper‐Elastomer Composites as Pneumatic Actuators , 2012 .

[20]  Katia Bertoldi,et al.  Programming soft robots with flexible mechanical metamaterials , 2019, Science Robotics.

[21]  L. Castano,et al.  Smart fabric sensors and e-textile technologies: a review , 2014 .

[22]  Robert C. Wolpert,et al.  A Review of the , 1985 .

[23]  G. Whitesides,et al.  Pneumatic Networks for Soft Robotics that Actuate Rapidly , 2014 .

[24]  Jonathan Realmuto,et al.  A robotic forearm orthosis using soft fabric-based helical actuators , 2019, 2019 2nd IEEE International Conference on Soft Robotics (RoboSoft).

[25]  D. Reynaerts,et al.  Elastic Inflatable Actuators for Soft Robotic Applications , 2017, Advanced materials.

[26]  Peter C. Y. Chen,et al.  A hybrid plastic-fabric soft bending actuator with reconfigurable bending profiles , 2017, 2017 IEEE International Conference on Robotics and Automation (ICRA).

[27]  Yi Sun,et al.  A Fully Fabric-Based Bidirectional Soft Robotic Glove for Assistance and Rehabilitation of Hand Impaired Patients , 2017, IEEE Robotics and Automation Letters.

[28]  Sridhar Kota,et al.  Auxetic Sleeves for Soft Actuators with Kinematically Varied Surfaces , 2018, 2018 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS).

[29]  Ghassan S. Kassab,et al.  Biomechanical Material Characterization of Stanford Type-B Dissected Porcine Aortas , 2018, Front. Physiol..

[30]  Wenlong Zhang,et al.  Fabric Soft Poly-Limbs for Physical Assistance of Daily Living Tasks , 2019, 2019 International Conference on Robotics and Automation (ICRA).

[31]  Robert J. Wood,et al.  Fluid-driven origami-inspired artificial muscles , 2017, Proceedings of the National Academy of Sciences.

[32]  Chen-Hua Yeow,et al.  The Exosleeve: A Soft Robotic Exoskeleton for Assisting in Activities of Daily Living , 2018 .

[33]  Yi Sun,et al.  Design and characterization of a novel fabric-based robotic arm for future wearable robot application , 2017, 2017 IEEE International Conference on Robotics and Biomimetics (ROBIO).

[34]  Mariangela Manti,et al.  Stiffening in Soft Robotics: A Review of the State of the Art , 2016, IEEE Robotics & Automation Magazine.

[35]  Barbara Mazzolai,et al.  Taking inspiration from climbing plants: methodologies and benchmarks—a review , 2020, Bioinspiration & biomimetics.

[36]  Sheng Quan Xie,et al.  Modeling the Peano fluidic muscle and the effects of its material properties on its static and dynamic behavior , 2016 .

[37]  Ian D. Walker,et al.  Design and implementation of a multi-section continuum robot: Air-Octor , 2005, 2005 IEEE/RSJ International Conference on Intelligent Robots and Systems.

[38]  Leonardo Cappello,et al.  A soft wearable robot for the shoulder: Design, characterization, and preliminary testing , 2017, 2017 International Conference on Rehabilitation Robotics (ICORR).

[39]  Conor J. Walsh,et al.  A Soft Robotic Orthosis for Wrist Rehabilitation , 2015 .

[40]  Sridhar Kota,et al.  Design and Modeling of Generalized Fiber-Reinforced Pneumatic Soft Actuators , 2015, IEEE Transactions on Robotics.

[41]  Jianping Yuan,et al.  Novel Accordion-Inspired Foldable Pneumatic Actuators for Knee Assistive Devices. , 2020, Soft robotics.

[42]  A. Concas,et al.  Knitting and weaving artificial muscles , 2017, Science Advances.

[43]  Allison M. Okamura,et al.  Series pneumatic artificial muscles (sPAMs) and application to a soft continuum robot , 2017, 2017 IEEE International Conference on Robotics and Automation (ICRA).

[44]  Allison M. Okamura,et al.  A soft robot that navigates its environment through growth , 2017, Science Robotics.

[45]  Yanzhou Wang,et al.  TWISTER Hand: Underactuated Robotic Gripper Inspired by Origami Twisted Tower , 2020, IEEE Transactions on Robotics.

[46]  Arianna Menciassi,et al.  Soft Robots in Surgery , 2017 .

[47]  Nicholas Kellaris,et al.  Peano-HASEL actuators: Muscle-mimetic, electrohydraulic transducers that linearly contract on activation , 2018, Science Robotics.

[48]  R. Ogden.  Non-Linear Elastic Deformations , 1984 .

[49]  Raffaello D'Andrea,et al.  Design, Modeling and Control of a Soft Robotic Arm , 2018, 2018 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS).

[50]  Jamie Kyujin Paik,et al.  Modeling vacuum bellows soft pneumatic actuators with optimal mechanical performance , 2018, 2018 IEEE International Conference on Soft Robotics (RoboSoft).

[51]  Kaspar Althoefer,et al.  Model-Based Pose Control of Inflatable Eversion Robot With Variable Stiffness , 2020, IEEE Robotics and Automation Letters.

[52]  Christophe Bouvet.  Work-energy Theorem: Principle of Finite Element Method , 2017 .

[53]  Conor J. Walsh,et al.  Soft exosuit for hip assistance , 2015, Robotics Auton. Syst..

[54]  Mohammed E. Sayed,et al.  Towards more Energy Efficient Pneumatic Soft Actuators using a Port-Hamiltonian Approach , 2019, 2019 2nd IEEE International Conference on Soft Robotics (RoboSoft).

[55]  Koichi Suzumori,et al.  Multifilament pneumatic artificial muscles to mimic the human neck , 2017, 2017 IEEE International Conference on Robotics and Biomimetics (ROBIO).

[56]  Fionnuala Connolly,et al.  Automatic design of fiber-reinforced soft actuators for trajectory matching , 2016, Proceedings of the National Academy of Sciences.

[57]  L. Paez,et al.  Design and Analysis of a Soft Pneumatic Actuator with Origami Shell Reinforcement , 2016 .

[58]  Joran W. Booth,et al.  Reconfigurable soft body trajectories using unidirectionally stretchable composite laminae , 2019, Nature Communications.

[59]  Daniela Rus,et al.  Modular Volumetric Actuators Using Motorized Auxetics , 2019, 2019 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS).

[60]  M Calisti,et al.  Fundamentals of soft robot locomotion , 2017, Journal of The Royal Society Interface.

[61]  Steven Ceron,et al.  Fiber Embroidery of Self-Sensing Soft Actuators , 2018, Biomimetics.

[62]  R. Ogden,et al.  A New Constitutive Framework for Arterial Wall Mechanics and a Comparative Study of Material Models , 2000 .

[63]  Robert J. Wood,et al.  Soft robotic glove for combined assistance and at-home rehabilitation , 2015, Robotics Auton. Syst..

[64]  Radhika Nagpal,et al.  Design and control of a bio-inspired soft wearable robotic device for ankle–foot rehabilitation , 2014, Bioinspiration & biomimetics.

[65]  Allison M. Okamura,et al.  Exomuscle: An inflatable device for shoulder abduction support , 2017, 2017 IEEE International Conference on Robotics and Automation (ICRA).

[66]  Panagiotis Polygerinos,et al.  Development of a soft-inflatable exosuit for knee rehabilitation , 2017, 2017 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS).

[67]  Annika Raatz,et al.  An Overview of Novel Actuators for Soft Robotics , 2018, Actuators.

[68]  Wenlong Zhang,et al.  Design, Characterization, and Mechanical Programming of Fabric-Reinforced Textile Actuators for a Soft Robotic Hand , 2019, 2019 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS).

[69]  Hong Kai Yap,et al.  Design of a Soft Robotic Elbow Sleeve with Passive and Intent-Controlled Actuation , 2017, Front. Neurosci..

[70]  Panagiotis Polygerinos,et al.  Design of a Soft Ankle-Foot Orthosis Exosuit for Foot Drop Assistance , 2019, 2019 International Conference on Robotics and Automation (ICRA).

[71]  Panagiotis Polygerinos,et al.  Carpal tunnel syndrome soft relief device for typing applications , 2017 .

[72]  Robert J. Wood,et al.  Modeling of Soft Fiber-Reinforced Bending Actuators , 2015, IEEE Transactions on Robotics.

[73]  Katie Byl,et al.  Initial Data and Theory for a High Specific-Power Ankle Exoskeleton Device , 2016, ISER.

[74]  G. Whitesides,et al.  Buckling of Elastomeric Beams Enables Actuation of Soft Machines , 2015, Advanced materials.

[75]  Jamie Paik,et al.  Design and Computational Modeling of a Modular, Compliant Robotic Assembly for Human Lumbar Unit and Spinal Cord Assistance , 2017, Scientific Reports.

[76]  Fred Hamker,et al.  Enfolded Textile Actuator for Soft Wearable Robots , 2019, 2019 IEEE International Conference on Cyborg and Bionic Systems (CBS).

[77]  Siddharth Sanan,et al.  Pneumatic Torsional Actuators for Inflatable Robots , 2014 .

[78]  P. Polygerinos,et al.  Mechanical Programming of Soft Actuators by Varying Fiber Angle , 2015 .

[79]  Hee Doo Yang,et al.  Modeling and Analysis of a High-Displacement Pneumatic Artificial Muscle With Integrated Sensing , 2019, Front. Robot. AI.

[80]  Conor J. Walsh,et al.  ExoBoot, a Soft Inflatable Robotic Boot to Assist Ankle During Walking: Design, Characterization and Preliminary Tests , 2018, 2018 7th IEEE International Conference on Biomedical Robotics and Biomechatronics (Biorob).

[81]  Kyu-Jin Cho,et al.  Bioinspired dual-morphing stretchable origami , 2019, Science Robotics.

[82]  Jamie Paik,et al.  Stretchable Materials for Robust Soft Actuators towards Assistive Wearable Devices , 2016, Scientific Reports.

[83]  Robert J. Wood,et al.  A soft wearable robotic device for active knee motions using flat pneumatic artificial muscles , 2014, 2014 IEEE International Conference on Robotics and Automation (ICRA).

[84]  PaikJamie,et al.  Design and Analysis of a Soft Pneumatic Actuator with Origami Shell Reinforcement , 2016 .

[85]  Jean-Sébastien Plante,et al.  Sleeved Bending Actuators for Soft Grippers: A Durable Solution for High Force-to-Weight Applications , 2018, Actuators.

[86]  Brian Byunghyun Kang,et al.  Exo-Glove: A Wearable Robot for the Hand with a Soft Tendon Routing System , 2015, IEEE Robotics & Automation Magazine.

[87]  D. Lefeber,et al.  Pleated pneumatic artificial muscles: actuators for automation and robotics , 2001, 2001 IEEE/ASME International Conference on Advanced Intelligent Mechatronics. Proceedings (Cat. No.01TH8556).