4 DOFs hollow soft pneumatic actuator – HOSE

Luigi Manfredi; Fabrizio Putzu; Saygun Guler; Yu Huan; Alfred Cuschieri

doi:10.1088/2053-1591/aaebea

4 DOFs hollow soft pneumatic actuator – HOSE

Luigi Manfredi (Lead / Corresponding author), Fabrizio Putzu, Saygun Guler, Yu Huan, Alfred Cuschieri

Research output: Contribution to journal › Article › peer-review

15 Citations (Scopus)

229 Downloads (Pure)

Abstract

This study reports a novel Hollow Soft Pneumatic Actuator (HOSE), which exhibits 4 degrees of freedom (DOFs). The design consists of a central hollow cylinder surrounded by four twisting symmetric chambers. By virtue of their spiral disposition, each chamber produces a diagonal force along the hollow internal cylinder composed of two components: one parallel to the Z axis and the other one to the plane X-Y. Both top and bottom sections of the actuator are reinforced to avoid deformation, essential for optimal function and dexterity of HOSE. Different movements of the actuator are produced by varying the activation combinations of the 4 chambers. They are constructed from thin walled (0.5 mm) Ecoflex 00-30 super soft silicon rubber, enabling HOSE to perform controlled movements with low pressure not exceeding 35 kPa.
HOSE exhibits a maximal extension of 230% of its original length, bends up to i) ±90° around X axis, ii) ±115° around Y
axis, and iii) twists around Z axis with a total range of ±35°. The paper describes the manufacturing process together with
the actuator performance, reporting the range of motion along each DOF related to the internal pressure, volume vs. forces and torques produced along each axis.

Original language	English
Article number	045703
Journal	Materials Research Express
Volume	6
Issue number	4
Early online date	26 Oct 2018
DOIs	https://doi.org/10.1088/2053-1591/aaebea
Publication status	Published - 28 Jan 2019

Keywords

Actuator
Robotics
Smart materials
Soft materials

ASJC Scopus subject areas

Electronic, Optical and Magnetic Materials
Biomaterials
Surfaces, Coatings and Films
Polymers and Plastics
Metals and Alloys

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10.1088/2053-1591/aaebea

Author Accepted Manuscript
This is an author-created, un-copyedited version of an article accepted for publication/published in Materials Research Express. IOP Publishing Ltd is not responsible for any errors or omissions in this version of the manuscript or any version derived from it. The Version of Record is available online at https://doi.org/10.1088/2053-1591/aaebea.
Accepted author manuscript, 2.57 MB

Cite this

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abstract = "This study reports a novel Hollow Soft Pneumatic Actuator (HOSE), which exhibits 4 degrees of freedom (DOFs). The design consists of a central hollow cylinder surrounded by four twisting symmetric chambers. By virtue of their spiral disposition, each chamber produces a diagonal force along the hollow internal cylinder composed of two components: one parallel to the Z axis and the other one to the plane X-Y. Both top and bottom sections of the actuator are reinforced to avoid deformation, essential for optimal function and dexterity of HOSE. Different movements of the actuator are produced by varying the activation combinations of the 4 chambers. They are constructed from thin walled (0.5 mm) Ecoflex 00-30 super soft silicon rubber, enabling HOSE to perform controlled movements with low pressure not exceeding 35 kPa.HOSE exhibits a maximal extension of 230% of its original length, bends up to i) ±90° around X axis, ii) ±115° around Yaxis, and iii) twists around Z axis with a total range of ±35°. The paper describes the manufacturing process together withthe actuator performance, reporting the range of motion along each DOF related to the internal pressure, volume vs. forces and torques produced along each axis.",

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AU - Putzu, Fabrizio

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AB - This study reports a novel Hollow Soft Pneumatic Actuator (HOSE), which exhibits 4 degrees of freedom (DOFs). The design consists of a central hollow cylinder surrounded by four twisting symmetric chambers. By virtue of their spiral disposition, each chamber produces a diagonal force along the hollow internal cylinder composed of two components: one parallel to the Z axis and the other one to the plane X-Y. Both top and bottom sections of the actuator are reinforced to avoid deformation, essential for optimal function and dexterity of HOSE. Different movements of the actuator are produced by varying the activation combinations of the 4 chambers. They are constructed from thin walled (0.5 mm) Ecoflex 00-30 super soft silicon rubber, enabling HOSE to perform controlled movements with low pressure not exceeding 35 kPa.HOSE exhibits a maximal extension of 230% of its original length, bends up to i) ±90° around X axis, ii) ±115° around Yaxis, and iii) twists around Z axis with a total range of ±35°. The paper describes the manufacturing process together withthe actuator performance, reporting the range of motion along each DOF related to the internal pressure, volume vs. forces and torques produced along each axis.

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KW - Robotics

KW - Smart materials

KW - Soft materials

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4 DOFs hollow soft pneumatic actuator – HOSE

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Cuschieri, Alfred

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4 DOFs hollow soft pneumatic actuator – HOSE

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Cuschieri, Alfred

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