Chen, C;
Anvari, B;
Lim, Z;
Wurdemann, HA;
(2021)
Hybrid fluidic actuation for a foam-based soft actuator.
In:
2020 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS).
(pp. pp. 8701-8708).
IEEE: Las Vegas, NV, USA.
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Abstract
Actuation means for soft robotic structures are manifold: despite actuation mechanisms such as tendon-driven manipulators or shape memory alloys, the majority of soft robotic actuators are fluidically actuated - either purely by positive or negative air pressure or by hydraulic actuation only. This paper presents the novel idea of employing hybrid fluidic - hydraulic and pneumatic - actuation for soft robotic systems. The concept and design of the hybrid actuation system as well as the fabrication of the soft actuator are presented: Polyvinyl Alcohol (PVA) foam is embedded inside a casted, reinforced silicone chamber. A hydraulic and pneumatic robotic syringe pump are connected to the base and top of the soft actuator. We found that a higher percentage of hydraulics resulted in a higher output force. Hydraulic actuation further is able to change displacements at a higher rate compared to pneumatic actuation. Changing between Hydraulic:Pneumatic (HP) ratios shows how stiffness properties of a soft actuator can be varied.
| Type: | Proceedings paper |
|---|---|
| Title: | Hybrid fluidic actuation for a foam-based soft actuator |
| Event: | IEEE Robotics and Automation Letters (RA-L) with ICRA 2020 |
| Open access status: | An open access version is available from UCL Discovery |
| DOI: | 10.1109/IROS45743.2020.9340731 |
| Publisher version: | https://doi.org/10.1109/IROS45743.2020.9340731 |
| Language: | English |
| Additional information: | This version is the author accepted manuscript. For information on re-use, please refer to the publisher’s terms and conditions. |
| UCL classification: | UCL UCL > Provost and Vice Provost Offices > UCL BEAMS UCL > Provost and Vice Provost Offices > UCL BEAMS > Faculty of Engineering Science UCL > Provost and Vice Provost Offices > UCL BEAMS > Faculty of Engineering Science > Dept of Civil, Environ and Geomatic Eng UCL > Provost and Vice Provost Offices > UCL BEAMS > Faculty of Engineering Science > Dept of Mechanical Engineering |
| URI: | https://discovery.ucl.ac.uk/id/eprint/10106905 |
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