4 DOFs hollow soft pneumatic actuator – HOSE

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

Research output: Contribution to journalArticle

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.
LanguageEnglish
JournalMaterials Research Express
Early online date26 Oct 2018
DOIs
Publication statusE-pub ahead of print - 26 Oct 2018

Fingerprint

Pneumatic actuators
Actuators
Degrees of freedom (mechanics)
Rubber
Torque
Chemical activation
Silicon

Cite this

@article{2498fcb6c3b949c58bdeb638b53593f5,
title = "4 DOFs hollow soft pneumatic actuator – HOSE",
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.",
author = "Luigi Manfredi and Fabrizio Putzu and Saygun Guler and Yu Huan and Alfred Cuschieri",
year = "2018",
month = "10",
day = "26",
doi = "10.1088/2053-1591/aaebea",
language = "English",
journal = "Materials Research Express",
issn = "2053-1591",

}

4 DOFs hollow soft pneumatic actuator – HOSE. / Manfredi, Luigi (Lead / Corresponding author); Putzu, Fabrizio; Guler, Saygun; Huan, Yu; Cuschieri, Alfred.

In: Materials Research Express, 26.10.2018.

Research output: Contribution to journalArticle

TY - JOUR

T1 - 4 DOFs hollow soft pneumatic actuator – HOSE

AU - Manfredi, Luigi

AU - Putzu, Fabrizio

AU - Guler, Saygun

AU - Huan, Yu

AU - Cuschieri, Alfred

PY - 2018/10/26

Y1 - 2018/10/26

N2 - 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.

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.

U2 - 10.1088/2053-1591/aaebea

DO - 10.1088/2053-1591/aaebea

M3 - Article

JO - Materials Research Express

T2 - Materials Research Express

JF - Materials Research Express

SN - 2053-1591

ER -