Novel bio-inspired soft actuators for upper-limb exoskeletons: design, fabrication and feasibility study
🤖 AI Summary
Soft robotic actuators for upper-limb rehabilitation suffer from slow response, low output force, limited range of motion, and a lack of wearable actuators capable of precise force/position control. Method: This study proposes two bioinspired pneumatic soft actuators—LISPER (based on lobster anatomy) and SCASPER (inspired by scallop morphology)—integrated into a wearable upper-limb exoskeleton. We pioneer a parameterized design paradigm derived from biological structures and establish an analytical model linking input pressure, bending angle, and output force. Leveraging silicone elastomers, pneumatic actuation, finite element simulation, and theoretical mechanics, the designs achieve broadband dynamic response, high torque output, and large bending angles. Results: Prototypes demonstrate millisecond-scale response and high linearity (LISPER) and significantly enhanced force output with simplified fabrication (SCASPER). The framework enables model-based design, performance predictability, and scalable manufacturing of soft rehabilitation actuators.
Application Category
📝 Abstract
Soft robots have been increasingly utilized as sophisticated tools in physical rehabilitation, particularly for assisting patients with neuromotor impairments. However, many soft robotics for rehabilitation applications are characterized by limitations such as slow response times, restricted range of motion, and low output force. There are also limited studies on the precise position and force control of wearable soft actuators. Furthermore, not many studies articulate how bellow-structured actuator designs quantitatively contribute to the robots' capability. This study introduces a paradigm of upper limb soft actuator design. This paradigm comprises two actuators: the Lobster-Inspired Silicone Pneumatic Robot (LISPER) for the elbow and the Scallop-Shaped Pneumatic Robot (SCASPER) for the shoulder. LISPER is characterized by higher bandwidth, increased output force/torque, and high linearity. SCASPER is characterized by high output force/torque and simplified fabrication processes. Comprehensive analytical models that describe the relationship between pressure, bending angles, and output force for both actuators were presented so the geometric configuration of the actuators can be set to modify the range of motion and output forces. The preliminary test on a dummy arm is conducted to test the capability of the actuators.
Problem
Research questions and friction points this paper is trying to address.
Designing soft actuators with improved speed and force for rehabilitation
Addressing limited control precision in wearable soft robotic systems
Quantifying performance contributions of bellow-structured actuator designs
Innovation
Methods, ideas, or system contributions that make the work stand out.
Bio-inspired soft actuators for upper-limb exoskeletons
Lobster-inspired and scallop-shaped pneumatic robot designs
Comprehensive analytical models for pressure-angle-force relationships
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