The DOI matches its Crossref record; 36 of the 36 references it cites were found in a registry or an index.
Modeling of Soft Fiber-Reinforced Bending Actuators
Abstract
Soft fluidic actuators consisting of elastomeric matrices with embedded flexible materials are of particular interest to the robotics community because they are affordable and can be easily customized to a given application. However, the significant potential of such actuators is currently limited as their design has typically been based on intuition. In this paper, the principle of operation of these actuators is comprehensively analyzed and described through experimentally validated quasi-static analytical and finite-element method models for bending in free space and force generation when in contact with an object. This study provides a set of systematic design rules to help the robotics community create soft actuators by understanding how these vary their outputs as a function of input pressure for a number of geometrical parameters. Additionally, the proposed analytical model is implemented in a controller demonstrating its ability to convert pressure information to bending angle in real time. Such an understanding of soft multimaterial actuators will allow future design concepts to be rapidly iterated and their performance predicted, thus enabling new and innovative applications that produce more complex motions to be explored.
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Cites
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Cited by
Hydraulic hydrogel actuators and robots optically and sonically camouflaged in water
Yuk, H., Lin, S., Ma, C., Takaffoli, M., Fang, N. X., & Zhao, X. (2017) · Nature Communications · doi:10.1038/ncomms14230 · Cited by 988
High-Force Soft Printable Pneumatics for Soft Robotic Applications
Yap, H. K., Ng, H. Y., & Yeow, C.-H. (2016) · Soft Robotics · doi:10.1089/soro.2016.0030 · Cited by 601
Passive Particle Jamming and Its Stiffening of Soft Robotic Grippers
Li, Y., Chen, Y., Yang, Y., & Wei, Y. (2017) · IEEE Transactions on Robotics · doi:10.1109/tro.2016.2636899 · Cited by 331
A dual-mode soft gripper for food packaging
Wang, Z., Or, K., & Hirai, S. (2020) · Robotics and Autonomous Systems · doi:10.1016/j.robot.2020.103427 · Cited by 222
Self-citation
Metadata
- Authors
- Polygerinos, P., Wang, Z., Overvelde, J. T. B., Galloway, K. C., Wood, R. J., Bertoldi, K., & Walsh, C. J.
- Venue
- IEEE Transactions on Robotics
- Published
- 2015-06
- Volume
- 31
- Issue
- 3
- Pages
- 778-789
- ISSN
- 1552-3098 (ISSN-L)
- 1941-0468
- OpenAlex
- W1902605501
- Cited by
- 910
- References
- 36
- FWCI
- 26.42
- Type
- journal article
- Language
- en
- Open access
- closed
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- Polygerinos, P., Wang, Z., Overvelde, J. T. B., Galloway, K. C., Wood, R. J., Bertoldi, K., & Walsh, C. J. (2015). Modeling of Soft Fiber-Reinforced Bending Actuators. IEEE Transactions on Robotics. https://doi.org/10.1109/tro.2015.2428504
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Contains information from the Semantic Scholar Academic Graph Datasets, made available under the ODC Attribution License (ODC-BY 1.0).
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