5 accepted papers
This work presents the design, modeling and control of an asymmetrically pleated textile actuator (APTA). The presented actuator utilizes a simple inflatable beam which is constrained asymmetrically using a pleat that is fixed only to a single side. Due to the difference in length between the constr
The application of pneumatic soft robots is limited by factors such as operational pressure and air flow rates. Pneumatic soft robots are typically tethered in nature due to the high energy costs for actuation as well as the lack of portable pneumatic sources capable of providing high pressures and
This paper investigates the design of a soft elbow exosuit capable of providing supplemental lifting assistance by reducing muscle activity of the bicep muscle. The aim is to improve the efficiency and endurance of workers who are tasked with repetitive lifting. The design consists of an array of pn…
This paper presents the design, development and preliminary evaluation of a soft-inflatable exosuit for knee rehabilitation. Soft-inflatable actuators made of heat-sealable thermoplastic polyurethane (TPU) materials are fabricated in two different beam-like structures (I and O cross-section actuator…
Hydro Muscles are linear actuators resembling ordinary biological muscles in terms of active dynamic output, passive material properties and appearance. The passive and dynamic characteristics of the latex based Hydro Muscle are addressed. The control tests of modular muscles are presented together