Assessment of Soft Actuators for Hand Exoskeletons: Pleated Textile Actuators and Fiber-Reinforced Silicone Actuators.
Assessment of Soft Actuators for Hand Exoskeletons: Pleated Textile Actuators and Fiber-Reinforced Silicone Actuators.
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DOI：
10.3389/fbioe.2022.924888
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发表时间：
2022
影响因子：
5.7
通讯作者：
Cifuentes, Carlos A.
中科院分区：
文献类型：
--
作者：
Ramos, Orion;Munera, Marcela;Moazen, Mehran;Wurdemann, Helge;Cifuentes, Carlos A.
软机器人方法已被尝试用于使用硅胶或纺织致动器的康复或辅助手外骨骼，因为它们比刚性外骨骼对与生物关节对齐具有更大的耐受性。纺织致动器之前尚未经过评估，本研究比较了手部外骨骼中使用的纺织致动器和硅胶致动器的机械性能。测量并比较了物理尺寸、实现完全弯曲运动所需的气压以及执行器尖端产生的力。结果表明，有机硅致动器的构造方法比织物致动器慢，但它产生更好的尺寸精度。然而，纺织品致动器产生完全弯曲运动所需的气压要低得多，而纺织品致动器在该压力下产生的阻挡力要高出 35%。相比之下，所有变量都存在显着差异，这表明使用褶皱纺织技术构建的执行器在构建用于手部康复或辅助的外骨骼方面具有更大的潜力。
Soft robotic approaches have been trialed for rehabilitation or assistive hand exoskeletons using silicone or textile actuators because they have more tolerance for alignment with biological joints than rigid exoskeletons. Textile actuators have not been previously evaluated, and this study compares the mechanical properties of textile and silicone actuators used in hand exoskeletons. The physical dimensions, the air pressure required to achieve a full bending motion, and the forces generated at the tip of the actuator were measured and compared. The results showed that the construction method of the silicone actuators is slower than the textile actuators, but it generates better dimensional accuracy. However, the air pressure required for the actuators to generate a full bending motion is significantly lower for textile actuators, and the blocking force generated at that pressure is 35% higher in the textile actuators. There are significant differences across all variables compared, indicating that actuators constructed using pleated textile techniques have greater potential for the construction of an exoskeleton for hand rehabilitation or assistance.
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