Design and Computational Modeling of Fabric Soft Pneumatic Actuators for Wearable Assistive Devices
Design and Computational Modeling of Fabric Soft Pneumatic Actuators for Wearable Assistive Devices
复制标题
DOI：
10.1038/s41598-020-65003-2
复制
发表时间：
2020-06-15
影响因子：
4.6
通讯作者：
Zhang, Wenlong
中科院分区：
文献类型：
--
作者：
Nguyen, Pham Huy;Zhang, Wenlong
辅助可穿戴软机器人系统最近在生物医学机器人领域取得了激增，因为软材料允许用户和设备之间安全透明的交互。最近在软气动致动器（SPA）领域中的兴趣是引入称为织物软气动致动器（FSPA）的一类新的致动器。这些致动器利用了不同机织和针织纺织品的独特功能，包括零初始刚度、完全可伸缩性、高功率重量比、耐穿刺性和高拉伸性。通过使用2D制造方法，我们能够创建可以在3D空间中延伸、收缩、扭曲、弯曲以及执行这些运动的组合的致动器。本文提出了一个全面的模拟和设计工具，各种类型的FSPA使用有限元法（FEM）模型。有限元模型的开发和实验验证，以捕捉复杂的非线性行为的个别致动器优化的自由位移和阻塞力，适用于可穿戴辅助任务。
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.