Journal
SOFT ROBOTICS
Volume 5, Issue 5, Pages 662-674Publisher
MARY ANN LIEBERT, INC
DOI: 10.1089/soro.2017.0076
Keywords
fabric-based actuators; mechanical programming; textile layers; soft robotic glove
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Funding
- National Science Foundation [1454472, 1317744]
- Wyss Institute for Biologically Inspired Engineering
- Harvard John A. Paulson School of Engineering and Applied Sciences
- Div Of Chem, Bioeng, Env, & Transp Sys
- Directorate For Engineering [1454472] Funding Source: National Science Foundation
- Div Of Information & Intelligent Systems
- Direct For Computer & Info Scie & Enginr [1317744] Funding Source: National Science Foundation
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Knit, woven, and nonwoven fabrics offer a diverse range of stretch and strain limiting mechanical properties that can be leveraged to produce tailored, whole-body deformation mechanics of soft robotic systems. This work presents new insights and methods for combining heterogeneous fabric material layers to create soft fabric-based actuators. This work demonstrates that a range of multi-degree-of-freedom motions can be generated by varying fabrics and their layered arrangements when a thin airtight bladder is inserted between them and inflated. Specifically, we present bending and straightening fabric-based actuators that are simple to manufacture, lightweight, require low operating pressures, display a high torque-to-weight ratio, and occupy a low volume in their unpressurized state. Their utility is demonstrated through their integration into a glove that actively assists hand opening and closing.
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