Fabric Soft Poly-Limbs for Physical Assistance of Daily Living Tasks
Fabric Soft Poly-Limbs for Physical Assistance of Daily Living Tasks
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DOI：
10.1109/icra.2019.8794294
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发表时间：
2019-03
期刊：
影响因子：
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通讯作者：
P. Nguyen;Imran I. B. Mohd;Curtis Sparks;Francisco L. Arellano;Wenlong Zhang;Panagiotis Polygerinos
中科院分区：
文献类型：
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作者：
P. Nguyen;Imran I. B. Mohd;Curtis Sparks;Francisco L. Arellano;Wenlong Zhang;Panagiotis Polygerinos
本文介绍了一种高度铰接，连续，耐磨，织物为基础的软多肢（fSPL）的设计和开发。这种织物柔软手臂充当额外的肢体，通过使用由高强度充气织物制成的柔软致动器为佩戴者提供移动的操纵辅助。在这项工作中，一组系统的设计规则，提出了通过理解的织物为基础的组件的行为作为输入压力的函数的创建高度兼容的软机器人肢体。这些设计规则是通过计算有限元法（FEM）模型研究一系列参数生成的，这些模型侧重于fSPL在3D空间中的铰接能力和有效载荷能力。实验验证了fSPL及其组件的理论运动和有效载荷输出，以及额外的评估验证了其通过缠绕物体安全承载10.1倍体重的载荷的能力。最后，我们展示了如何完全可折叠的fSPL可以舒适地存储在软腰带，并通过空间移动性和初步的取放控制实验与穿戴者互动。
This paper presents the design and development of a highly articulated, continuum, wearable, fabric-based Soft Poly-Limb (fSPL). This fabric soft arm acts as an additional limb that provides the wearer with mobile manipulation assistance through the use of soft actuators made with high-strength inflatable fabrics. In this work, a set of systematic design rules is presented for the creation of highly compliant soft robotic limbs through an understanding of the fabric based components behavior as a function of input pressure. These design rules are generated by investigating a range of parameters through computational finite-element method (FEM) models focusing on the fSPL’s articulation capabilities and payload capacity in 3D space. The theoretical motion and payload outputs of the fSPL and its components are experimentally validated as well as additional evaluations verify its capability to safely carry loads 10.1x its body weight, by wrapping around the object. Finally, we demonstrate how the fully collapsible fSPL can comfortably be stored in a soft-waist belt and interact with the wearer through spatial mobility and preliminary pick-and-place control experiments.