Twisting and Braiding Fluid-Driven Soft Artificial Muscle Fibers for Robotic Applications.

Journal: Soft robotics
Published Date: Oct 5, 2021

Abstract

Research on soft artificial muscles (SAMs) is rapidly growing, both in developing new actuation ideas and improving existing structures with multifunctionality. The human body has more than 600 muscles that drive organs and joints to achieve desired functions. Inspired by the human muscles, this article presents a new type of SAM fiber formed from twisting and braiding soft hydraulic filament artificial muscles with high aspect ratio, high strain, and high energy efficiency. We systematically investigated the relationship between input pressure and output elongation as well as contraction force of the new muscles using different configurations in terms of an array of single and multiple muscles arranged in nontwisting (or straight), twisting, and braiding variants. Experimental results revealed that the twisting and braiding configurations greatly enhanced the muscle elongation and generated force compared with their nontwisting/braiding counterparts. To demonstrate the new muscles' usability, we implemented several muscle variants to bidirectionally manipulate 3D-printed human fingers and elbow, mimicking the human upper limb with a full range of motion. We also created a bioinspired growing soft tubular muscle that could simultaneously exert longitudinal and radial expansion upon pressurization, similar to that of auxetic metamaterial structures. The new growing soft tubular muscles were experimentally validated and the results showed that they could be potentially implemented in several emerging applications, including smart compression garments, stent-like supporting devices, and tubular grippers for medical use.

Authors

  • Phuoc Thien Phan
    Robotics Research Center, School of Mechanical and Aerospace Engineering, Nanyang Technological University, Singapore, Singapore.
  • Trung Thien Hoang
    Graduate School of Biomedical Engineering, Faculty of Engineering, University of New South Wales (UNSW), Sydney, New South Wales, Australia.
  • Mai Thanh Thai
    Graduate School of Biomedical Engineering, Faculty of Engineering, University of New South Wales (UNSW), Sydney, New South Wales, Australia.
  • Harrison Low
    Graduate School of Biomedical Engineering, Faculty of Engineering, University of New South Wales (UNSW), Sydney, New South Wales, Australia.
  • Nigel Hamilton Lovell
    Graduate School of Biomedical Engineering, Faculty of Engineering, University of New South Wales (UNSW), Sydney, New South Wales, Australia.
  • Thanh Nho Do
    Graduate School of Biomedical Engineering, Faculty of Engineering, University of New South Wales, Sydney, Australia.

Keywords

External Resources

Popular Topics
Recent Journals