A Pumpless Layflat Tube-Based Pneumatic Bending Actuator for Soft Assistive Glove

2023 International Conference on Advanced Robotics and Mechatronics (ICARM) Pub Date : 2023-07-08 DOI:10.1109/ICARM58088.2023.10218810

Senyuan Lin, Hao Liu, Changchun Wu, Yonghua Chen

{"title":"A Pumpless Layflat Tube-Based Pneumatic Bending Actuator for Soft Assistive Glove","authors":"Senyuan Lin, Hao Liu, Changchun Wu, Yonghua Chen","doi":"10.1109/ICARM58088.2023.10218810","DOIUrl":null,"url":null,"abstract":"Layflat tube (LFT) is a soft tube that is pressed flat for easy winding onto a spool and continuous use. When inflating an LFT, the width of the FLT will contract, and the flat side of the FLT will expand. Based on this feature, a layflat tube-based pneumatic bending actuator (LFTPBA) is proposed and used for finger actuation in soft robotic glove design. Five LFTPBAs are mounted on a fabric glove to assist finger flexion. To eliminate noise and vibration of a normal pump system, a bellow actuation method is proposed. The finger flexion angle and bending speed can be controlled by motors directly. A mathematical model is developed to investigate the relationship between the LFTPBA flexion angle and bellow compression displacement. Besides, a finite element analysis of the LFTPBA bending trajectory versus pressure increase is also conducted. Compared with a fabric-based pneumatic bending actuator, the proposed system can generate 57% more blocked tip force (from 9 N to 14.13 N). A prototype assistive glove has been developed to demonstrate various grasping operations via a hand model.","PeriodicalId":220013,"journal":{"name":"2023 International Conference on Advanced Robotics and Mechatronics (ICARM)","volume":"53 1","pages":"0"},"PeriodicalIF":0.0000,"publicationDate":"2023-07-08","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":"1","resultStr":null,"platform":"Semanticscholar","paperid":null,"PeriodicalName":"2023 International Conference on Advanced Robotics and Mechatronics (ICARM)","FirstCategoryId":"1085","ListUrlMain":"https://doi.org/10.1109/ICARM58088.2023.10218810","RegionNum":0,"RegionCategory":null,"ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":null,"EPubDate":"","PubModel":"","JCR":"","JCRName":"","Score":null,"Total":0}

引用次数: 1

Abstract

Layflat tube (LFT) is a soft tube that is pressed flat for easy winding onto a spool and continuous use. When inflating an LFT, the width of the FLT will contract, and the flat side of the FLT will expand. Based on this feature, a layflat tube-based pneumatic bending actuator (LFTPBA) is proposed and used for finger actuation in soft robotic glove design. Five LFTPBAs are mounted on a fabric glove to assist finger flexion. To eliminate noise and vibration of a normal pump system, a bellow actuation method is proposed. The finger flexion angle and bending speed can be controlled by motors directly. A mathematical model is developed to investigate the relationship between the LFTPBA flexion angle and bellow compression displacement. Besides, a finite element analysis of the LFTPBA bending trajectory versus pressure increase is also conducted. Compared with a fabric-based pneumatic bending actuator, the proposed system can generate 57% more blocked tip force (from 9 N to 14.13 N). A prototype assistive glove has been developed to demonstrate various grasping operations via a hand model.

查看原文本刊更多论文

一种用于软性辅助手套的无泵平管气动弯曲驱动器

扁管(LFT)是一种柔软的管，压扁后容易缠绕到线轴上并连续使用。当对LFT进行充气时，FLT的宽度将会收缩，而FLT的平侧将会膨胀。基于这一特点，提出了一种基于平面管的气动弯曲驱动器(LFTPBA)，并将其用于柔性机器人手套设计中的手指驱动。五个lftpba安装在织物手套上，以帮助手指弯曲。为了消除正常泵系统的噪声和振动，提出了波纹管驱动方法。手指的弯曲角度和弯曲速度可由电机直接控制。建立了LFTPBA弯曲角与波纹管压缩位移关系的数学模型。此外，还对LFTPBA的弯曲轨迹随压力的增加进行了有限元分析。与基于织物的气动弯曲致动器相比，所提出的系统可以产生57%的阻塞尖端力(从9 N到14.13 N)。一个原型辅助手套已经开发出来，通过手部模型演示各种抓取操作。

本文章由计算机程序翻译，如有差异，请以英文原文为准。

求助全文

约1分钟内获得全文求助全文

来源期刊

2023 International Conference on Advanced Robotics and Mechatronics (ICARM)

自引率

0.00%

发文量