Design and Mathematical Model for Bending Pneumatic Soft Actuators with Asymmetric Cavity

Pihsaia S. Sun; Yuwen Lu; Jingeng Mai; Qining Wang

doi:10.1109/BioRob49111.2020.9224381

Design and Mathematical Model for Bending Pneumatic Soft Actuators with Asymmetric Cavity

Pihsaia S. Sun
, Yuwen Lu
, Jingeng Mai
, Qining Wang

Peking University
Beijing Engineering Research Center of Intelligent Rehabilitation Engineering

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution › peer-review

2 Scopus citations

Abstract

Pneumatic bending soft actuators have been used in various innovative applications. However, there is a need for efficient design principles and methods that can improve the control accuracy of soft robots. In this paper, we present a mathematical model of soft bending actuators based on optimization and design a cylindrical soft actuator with asymmetric inner cavity that will perform bending motion upon pressurization. We introduce neutral plane as a reference layer with constant length instead of using a strain-limiting layer on the soft actuator. Preliminary experimental results verify the modelling approach and demonstrate the effectiveness of the proposed method.

Original language	English
Title of host publication	2020 8th IEEE RAS/EMBS International Conference for Biomedical Robotics and Biomechatronics, BioRob 2020
Publisher	IEEE Computer Society
Pages	346-351
Number of pages	6
ISBN (Electronic)	9781728159072
DOIs	https://doi.org/10.1109/BioRob49111.2020.9224381
State	Published - Nov 2020
Externally published	Yes
Event	8th IEEE RAS/EMBS International Conference for Biomedical Robotics and Biomechatronics, BioRob 2020 - New York City, United States Duration: 29 Nov 2020 → 1 Dec 2020

Publication series

Name	Proceedings of the IEEE RAS and EMBS International Conference on Biomedical Robotics and Biomechatronics
Volume	2020-November
ISSN (Print)	2155-1774

Conference

Conference	8th IEEE RAS/EMBS International Conference for Biomedical Robotics and Biomechatronics, BioRob 2020
Country/Territory	United States
City	New York City
Period	29/11/20 → 1/12/20

Access to Document

10.1109/BioRob49111.2020.9224381

Cite this

Sun, P. S., Lu, Y., Mai, J., & Wang, Q. (2020). Design and Mathematical Model for Bending Pneumatic Soft Actuators with Asymmetric Cavity. In 2020 8th IEEE RAS/EMBS International Conference for Biomedical Robotics and Biomechatronics, BioRob 2020 (pp. 346-351). Article 9224381 (Proceedings of the IEEE RAS and EMBS International Conference on Biomedical Robotics and Biomechatronics; Vol. 2020-November). IEEE Computer Society. https://doi.org/10.1109/BioRob49111.2020.9224381

Sun, Pihsaia S. ; Lu, Yuwen ; Mai, Jingeng et al. / Design and Mathematical Model for Bending Pneumatic Soft Actuators with Asymmetric Cavity. 2020 8th IEEE RAS/EMBS International Conference for Biomedical Robotics and Biomechatronics, BioRob 2020. IEEE Computer Society, 2020. pp. 346-351 (Proceedings of the IEEE RAS and EMBS International Conference on Biomedical Robotics and Biomechatronics).

@inproceedings{ec3867071ea2473487fc8e85da6e78c7,

title = "Design and Mathematical Model for Bending Pneumatic Soft Actuators with Asymmetric Cavity",

abstract = "Pneumatic bending soft actuators have been used in various innovative applications. However, there is a need for efficient design principles and methods that can improve the control accuracy of soft robots. In this paper, we present a mathematical model of soft bending actuators based on optimization and design a cylindrical soft actuator with asymmetric inner cavity that will perform bending motion upon pressurization. We introduce neutral plane as a reference layer with constant length instead of using a strain-limiting layer on the soft actuator. Preliminary experimental results verify the modelling approach and demonstrate the effectiveness of the proposed method.",

author = "Sun, \{Pihsaia S.\} and Yuwen Lu and Jingeng Mai and Qining Wang",

note = "Publisher Copyright: {\textcopyright} 2020 IEEE.; 8th IEEE RAS/EMBS International Conference for Biomedical Robotics and Biomechatronics, BioRob 2020 ; Conference date: 29-11-2020 Through 01-12-2020",

year = "2020",

month = nov,

doi = "10.1109/BioRob49111.2020.9224381",

language = "英语",

series = "Proceedings of the IEEE RAS and EMBS International Conference on Biomedical Robotics and Biomechatronics",

publisher = "IEEE Computer Society",

pages = "346--351",

booktitle = "2020 8th IEEE RAS/EMBS International Conference for Biomedical Robotics and Biomechatronics, BioRob 2020",

}

Sun, PS, Lu, Y, Mai, J & Wang, Q 2020, Design and Mathematical Model for Bending Pneumatic Soft Actuators with Asymmetric Cavity. in 2020 8th IEEE RAS/EMBS International Conference for Biomedical Robotics and Biomechatronics, BioRob 2020., 9224381, Proceedings of the IEEE RAS and EMBS International Conference on Biomedical Robotics and Biomechatronics, vol. 2020-November, IEEE Computer Society, pp. 346-351, 8th IEEE RAS/EMBS International Conference for Biomedical Robotics and Biomechatronics, BioRob 2020, New York City, United States, 29/11/20. https://doi.org/10.1109/BioRob49111.2020.9224381

Design and Mathematical Model for Bending Pneumatic Soft Actuators with Asymmetric Cavity. / Sun, Pihsaia S.; Lu, Yuwen; Mai, Jingeng et al.
2020 8th IEEE RAS/EMBS International Conference for Biomedical Robotics and Biomechatronics, BioRob 2020. IEEE Computer Society, 2020. p. 346-351 9224381 (Proceedings of the IEEE RAS and EMBS International Conference on Biomedical Robotics and Biomechatronics; Vol. 2020-November).

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution › peer-review

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PY - 2020/11

Y1 - 2020/11

N2 - Pneumatic bending soft actuators have been used in various innovative applications. However, there is a need for efficient design principles and methods that can improve the control accuracy of soft robots. In this paper, we present a mathematical model of soft bending actuators based on optimization and design a cylindrical soft actuator with asymmetric inner cavity that will perform bending motion upon pressurization. We introduce neutral plane as a reference layer with constant length instead of using a strain-limiting layer on the soft actuator. Preliminary experimental results verify the modelling approach and demonstrate the effectiveness of the proposed method.

AB - Pneumatic bending soft actuators have been used in various innovative applications. However, there is a need for efficient design principles and methods that can improve the control accuracy of soft robots. In this paper, we present a mathematical model of soft bending actuators based on optimization and design a cylindrical soft actuator with asymmetric inner cavity that will perform bending motion upon pressurization. We introduce neutral plane as a reference layer with constant length instead of using a strain-limiting layer on the soft actuator. Preliminary experimental results verify the modelling approach and demonstrate the effectiveness of the proposed method.

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DO - 10.1109/BioRob49111.2020.9224381

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Sun PS, Lu Y, Mai J, Wang Q. Design and Mathematical Model for Bending Pneumatic Soft Actuators with Asymmetric Cavity. In 2020 8th IEEE RAS/EMBS International Conference for Biomedical Robotics and Biomechatronics, BioRob 2020. IEEE Computer Society. 2020. p. 346-351. 9224381. (Proceedings of the IEEE RAS and EMBS International Conference on Biomedical Robotics and Biomechatronics). doi: 10.1109/BioRob49111.2020.9224381

Design and Mathematical Model for Bending Pneumatic Soft Actuators with Asymmetric Cavity

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