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<button class="button is-small is-link">Go</button> </div> </div> </form> </div> </div> <ol class="breathe-horizontal" start="1"> <li class="arxiv-result"> <div class="is-marginless"> <p class="list-title is-inline-block"><a href="https://arxiv.org/abs/2411.00295">arXiv:2411.00295</a> <span> [<a href="https://arxiv.org/pdf/2411.00295">pdf</a>, <a href="https://arxiv.org/format/2411.00295">other</a>] </span> </p> <div class="tags is-inline-block"> <span class="tag is-small is-link tooltip is-tooltip-top" data-tooltip="Human-Computer Interaction">cs.HC</span> </div> </div> <p class="title is-5 mathjax"> Fabrication and Performance of Textile Pneumatic Actuators </p> <p class="authors"> <span class="search-hit">Authors:</span> <a href="/search/cs?searchtype=author&query=Coram%2C+M+C">Megan C. Coram</a>, <a href="/search/cs?searchtype=author&query=Okamura%2C+A+M">Allison M. Okamura</a>, <a href="/search/cs?searchtype=author&query=Pasquier%2C+C+d">Cosima du Pasquier</a> </p> <p class="abstract mathjax"> <span class="has-text-black-bis has-text-weight-semibold">Abstract</span>: <span class="abstract-short has-text-grey-dark mathjax" id="2411.00295v1-abstract-short" style="display: inline;"> Soft pneumatic actuators have a wide range of applications, including providing haptic feedback embedded in smart garments. Here we investigate actuators fabricated from thermoplastic coated textiles. We measure the effects of fabrication parameters on the robustness and airtightness of small, round pneumatic pouch actuators made from heat-sealed thermoplastic polyurethane-coated nylon, which we c… <a class="is-size-7" style="white-space: nowrap;" onclick="document.getElementById('2411.00295v1-abstract-full').style.display = 'inline'; document.getElementById('2411.00295v1-abstract-short').style.display = 'none';">▽ More</a> </span> <span class="abstract-full has-text-grey-dark mathjax" id="2411.00295v1-abstract-full" style="display: none;"> Soft pneumatic actuators have a wide range of applications, including providing haptic feedback embedded in smart garments. Here we investigate actuators fabricated from thermoplastic coated textiles. We measure the effects of fabrication parameters on the robustness and airtightness of small, round pneumatic pouch actuators made from heat-sealed thermoplastic polyurethane-coated nylon, which we call PneuDots. We determine the optimal temperature, time, and pressure for heat-pressing of the textile to create strong bonds and identify the most effective glue to create an airtight seal at the inlet. Compared to elastomeric pneumatic actuators, PneuDots reduce the thickness of the actuator by 96.4% and the mass by 57.2%, increasing their wearability while maintaining a strong force output. We evaluated the force output of the actuators, along with their performance over time. In a blocked force test, PneuDot maximum force transmission was 36.1N, which is 95.3% of the peak force output of an elastomeric pneumatic actuator with the same diameter and pressure. Cyclical testing showed that PneuDots had more stable behavior over time. These results provide best practices for fabrication and indicate the feasibility of textile pneumatic actuators for future wearable applications. <a class="is-size-7" style="white-space: nowrap;" onclick="document.getElementById('2411.00295v1-abstract-full').style.display = 'none'; document.getElementById('2411.00295v1-abstract-short').style.display = 'inline';">△ Less</a> </span> </p> <p class="is-size-7"><span class="has-text-black-bis has-text-weight-semibold">Submitted</span> 31 October, 2024; <span class="has-text-black-bis has-text-weight-semibold">originally announced</span> November 2024. </p> </li> <li class="arxiv-result"> <div class="is-marginless"> <p class="list-title is-inline-block"><a href="https://arxiv.org/abs/2306.04048">arXiv:2306.04048</a> <span> [<a href="https://arxiv.org/pdf/2306.04048">pdf</a>, <a href="https://arxiv.org/format/2306.04048">other</a>] </span> </p> <div class="tags is-inline-block"> <span class="tag is-small is-link tooltip is-tooltip-top" data-tooltip="Robotics">cs.RO</span> </div> <div class="is-inline-block" style="margin-left: 0.5rem"> <div class="tags has-addons"> <span class="tag is-dark is-size-7">doi</span> <span class="tag is-light is-size-7"><a class="" href="https://doi.org/10.1109/LRA.2023.3320010">10.1109/LRA.2023.3320010 <i class="fa fa-external-link" aria-hidden="true"></i></a></span> </div> </div> </div> <p class="title is-5 mathjax"> Finite Element Modeling of Pneumatic Bending Actuators for Inflated-Beam Robots </p> <p class="authors"> <span class="search-hit">Authors:</span> <a href="/search/cs?searchtype=author&query=Pasquier%2C+C+d">Cosima du Pasquier</a>, <a href="/search/cs?searchtype=author&query=Jeong%2C+S">Sehui Jeong</a>, <a href="/search/cs?searchtype=author&query=Okamura%2C+A+M">Allison M. Okamura</a> </p> <p class="abstract mathjax"> <span class="has-text-black-bis has-text-weight-semibold">Abstract</span>: <span class="abstract-short has-text-grey-dark mathjax" id="2306.04048v2-abstract-short" style="display: inline;"> Inflated-beam soft robots, such as tip-everting vine robots, can control curvature by contracting one beam side via pneumatic actuation. This work develops a general finite element modeling approach to characterize their bending. The model is validated across four pneumatic actuator types (series, compression, embedded, and fabric pneumatic artificial muscles), and can be extended to other designs… <a class="is-size-7" style="white-space: nowrap;" onclick="document.getElementById('2306.04048v2-abstract-full').style.display = 'inline'; document.getElementById('2306.04048v2-abstract-short').style.display = 'none';">▽ More</a> </span> <span class="abstract-full has-text-grey-dark mathjax" id="2306.04048v2-abstract-full" style="display: none;"> Inflated-beam soft robots, such as tip-everting vine robots, can control curvature by contracting one beam side via pneumatic actuation. This work develops a general finite element modeling approach to characterize their bending. The model is validated across four pneumatic actuator types (series, compression, embedded, and fabric pneumatic artificial muscles), and can be extended to other designs. These actuators employ two bending mechanisms: geometry-based contraction and material-based contraction. The model accounts for intricate nonlinear effects of buckling and anisotropy. Experimental validation includes three working pressures (10, 20, and 30 kPa) for each actuator type. Geometry-based contraction yields significant deformation (92.1% accuracy) once the buckling pattern forms, reducing slightly to 80.7% accuracy at lower pressures due to stress singularities during buckling. Material-based contraction achieves smaller bending angles but remains at least 96.7% accurate. The open source models available at http://www.vinerobots.org support designing inflated-beam robots like tip-everting vine robots, contributing to waste reduction by optimizing designs based on material properties and stress distribution for effective bending and stress management. <a class="is-size-7" style="white-space: nowrap;" onclick="document.getElementById('2306.04048v2-abstract-full').style.display = 'none'; document.getElementById('2306.04048v2-abstract-short').style.display = 'inline';">△ Less</a> </span> </p> <p class="is-size-7"><span class="has-text-black-bis has-text-weight-semibold">Submitted</span> 29 September, 2023; <span class="has-text-black-bis has-text-weight-semibold">v1</span> submitted 6 June, 2023; <span class="has-text-black-bis has-text-weight-semibold">originally announced</span> June 2023. </p> </li> <li class="arxiv-result"> <div class="is-marginless"> <p class="list-title is-inline-block"><a href="https://arxiv.org/abs/2305.00967">arXiv:2305.00967</a> <span> [<a href="https://arxiv.org/pdf/2305.00967">pdf</a>, <a href="https://arxiv.org/format/2305.00967">other</a>] </span> </p> <div class="tags is-inline-block"> <span class="tag is-small is-link tooltip is-tooltip-top" data-tooltip="Robotics">cs.RO</span> </div> </div> <p class="title is-5 mathjax"> A Comparison of Pneumatic Actuators for Soft Growing Vine Robots </p> <p class="authors"> <span class="search-hit">Authors:</span> <a href="/search/cs?searchtype=author&query=K%C3%BCbler%2C+A+M">Alexander M. K眉bler</a>, <a href="/search/cs?searchtype=author&query=Pasquier%2C+C+d">Cosima du Pasquier</a>, <a href="/search/cs?searchtype=author&query=Low%2C+A">Andrew Low</a>, <a href="/search/cs?searchtype=author&query=Djambazi%2C+B">Betim Djambazi</a>, <a href="/search/cs?searchtype=author&query=Aymon%2C+N">Nicolas Aymon</a>, <a href="/search/cs?searchtype=author&query=F%C3%B6rster%2C+J">Julian F枚rster</a>, <a href="/search/cs?searchtype=author&query=Agharese%2C+N">Nathaniel Agharese</a>, <a href="/search/cs?searchtype=author&query=Siegwart%2C+R">Roland Siegwart</a>, <a href="/search/cs?searchtype=author&query=Okamura%2C+A+M">Allison M. Okamura</a> </p> <p class="abstract mathjax"> <span class="has-text-black-bis has-text-weight-semibold">Abstract</span>: <span class="abstract-short has-text-grey-dark mathjax" id="2305.00967v3-abstract-short" style="display: inline;"> Soft pneumatic actuators are used to steer soft growing "vine" robots while being flexible enough to undergo the tip eversion required for growth. In this study, we compared the performance of three types of pneumatic actuators in terms of their ability to perform eversion, quasi-static bending, dynamic motion, and force output: the pouch motor, the cylindrical pneumatic artificial muscle (cPAM),… <a class="is-size-7" style="white-space: nowrap;" onclick="document.getElementById('2305.00967v3-abstract-full').style.display = 'inline'; document.getElementById('2305.00967v3-abstract-short').style.display = 'none';">▽ More</a> </span> <span class="abstract-full has-text-grey-dark mathjax" id="2305.00967v3-abstract-full" style="display: none;"> Soft pneumatic actuators are used to steer soft growing "vine" robots while being flexible enough to undergo the tip eversion required for growth. In this study, we compared the performance of three types of pneumatic actuators in terms of their ability to perform eversion, quasi-static bending, dynamic motion, and force output: the pouch motor, the cylindrical pneumatic artificial muscle (cPAM), and the fabric pneumatic artificial muscle (fPAM). The pouch motor is advantageous for prototyping due to its simple manufacturing process. The cPAM exhibits superior bending behavior and produces the highest forces, while the fPAM actuates fastest and everts at the lowest pressure. We evaluated a range of dimensions for each actuator type. Larger actuators can produce more significant deformations and forces, but smaller actuators inflate faster and can evert at a lower pressure. Because vine robots are lightweight, the effect of gravity on the functionality of different actuators is minimal. We developed a new analytical model that predicts the pressure-to-bending behavior of vine robot actuators. Using the actuator results, we designed and demonstrated a 4.8 m long vine robot equipped with highly maneuverable 60x60 mm cPAMs in a three-dimensional obstacle course. The vine robot was able to move around sharp turns, travel through a passage smaller than its diameter, and lift itself against gravity. <a class="is-size-7" style="white-space: nowrap;" onclick="document.getElementById('2305.00967v3-abstract-full').style.display = 'none'; document.getElementById('2305.00967v3-abstract-short').style.display = 'inline';">△ Less</a> </span> </p> <p class="is-size-7"><span class="has-text-black-bis has-text-weight-semibold">Submitted</span> 15 September, 2023; <span class="has-text-black-bis has-text-weight-semibold">v1</span> submitted 1 May, 2023; <span class="has-text-black-bis has-text-weight-semibold">originally announced</span> May 2023. </p> <p class="comments is-size-7"> <span class="has-text-black-bis has-text-weight-semibold">Comments:</span> <span class="has-text-grey-dark mathjax">13 pages, 8 figures, 3 tables</span> </p> </li> </ol> <div class="is-hidden-tablet">  <span class="help" style="display: inline-block;"><a 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