Double-Acting Soft Actuator for Soft Robotic Hand: A Bellow Pumping and Contraction Approach.

ABSTRACT: When compressing a soft bellow, the bellow will contract and pump out the fluid inside the bellow. Utilizing this property, we propose a novel actuation method called compressing bellow actuation (CBA), which can output fluidic power and tendon-driven force simultaneously. Based on the CBA method, a double-acting soft actuator (DASA) combining fluidic elastomer actuator (FEA) and tendon-driven metacarpophalangeal (MCP) joint is proposed for robotic finger design. The proposed DASA exhibits both compliance and adaptiveness of FEAs, and controllability and large output force of the tendon-driven methods. The fluid in the bellow can be either air or water or even integration of the two, thus constituting three different actuation modes. Mathematical modeling of the relationship between bellow

SUBMITTER: Liu H 

PROVIDER: S-EPMC9590020 | biostudies-literature | 2022 Oct

REPOSITORIES: biostudies-literature