Development of a Spiral Shaped Soft Holding Actuator Using Extension Type Flexible Pneumatic Actuators

So Shimooka; Tetsuya Akagi; Shujiro Dohta; Takashi Shinohara; Takumi Kobayashi

doi:10.20965/jrm.2022.p0373

single-rb.php

« previous

JRM Vol.34 No.2 pp. 373-381

doi: 10.20965/jrm.2022.p0373

(2022)

Paper:

Views over last 60 days: 466

Development of a Spiral Shaped Soft Holding Actuator Using Extension Type Flexible Pneumatic Actuators

So Shimooka^, Tetsuya Akagi^, Shujiro Dohta^, Takashi Shinohara^, and Takumi Kobayashi^

^*Graduate School of Natural Science and Technology, Okayama University
3-1-1 Tsushima-naka, Kita-ku, Okayama 700-8530, Japan

^**Department of Intelligent Mechanical Engineering, Okayama University of Science
1-1 Ridai-cho, Kita-ku, Okayama 700-0005, Japan

^***Design and Manufacturing Center, Organization for Research Development and Outreach, Okayama University of Science
1-1 Ridai-cho, Kita-ku, Okayama 700-0005, Japan

Received:

September 16, 2021

Accepted:

March 4, 2022

Published:

April 20, 2022

Keywords:

spiral shaped soft holding actuator, extension type flexible pneumatic actuator, circumference restraint mechanism, analytical model

Abstract

Recently, several pneumatic soft actuators have been applied to wearable and welfare devices to provide nursing care and physical support for the elderly and disabled. In this study, as a wearable soft actuator for holding body, a spiral shaped soft holding actuator that can wrap a user according to their body shape was proposed and tested. The construction and operating principle of the tested soft actuator with circumferential restraint mechanism using three extension type flexible pneumatic actuators (EFPAs) has been discussed. As a result, it was found that the tested actuator could hold elbows and knees when the joint is in motion. An analytical model of the spiral actuator was also proposed to achieve an optimal design. It can be confirmed that the proposed analytical model can predict the shape of the actuator when various EFPAs are pressurized.

Spiral soft actuator with circumferential restrain mechanism

Cite this article as:

S. Shimooka, T. Akagi, S. Dohta, T. Shinohara, and T. Kobayashi, “Development of a Spiral Shaped Soft Holding Actuator Using Extension Type Flexible Pneumatic Actuators,” J. Robot. Mechatron., Vol.34 No.2, pp. 373-381, 2022.

Data files:

References

[1] Y. Nagata, “Soft Actuators, Forefront of Development,” pp. 291-335, NTS Ltd., 2004.
[2] T. Noritsugu, M. Takaiwa, and D. Sasaki, “Development of Power Assist Wear Using Pneumatic Rubber Artificial Muscles,” J. Robot. Mechatron., Vol.21, No.5, pp. 607-613, 2009.
[3] Y. Matsui, T. Akagi, S. Dohta, W. Kobayashi, and H. Tamaki, “Development of Flexible Spherical Actuator with 3D Coordinate Measuring Device,” J. of Flow Control, Measurement & Visualization, Vol.6, No.2, pp. 95-106, 2018.
[4] C. Thakur, K. Ogawa, and Y. Kurita, “Active Passive Nature of Assistive Wearable Gait Augment Suit for Enhanced Mobility,” J. Robot. Mechatron., Vol.30, No.5, pp. 717-728, 2018.
[5] C. Ishii and K. Yoshida, “Improvement of a Lightweight Power Assist Suit for Nursing Care,” Int. J. of Engineering and Technology, Vol.11, No.4, pp. 256-261, 2019.
[6] T. Chang, S. Koizumi, H. Nabae, G. Endo, K. Suzumori, K. Hatakeyama, S. Chida, and Y. Shimada, “A Wearable Ankle Exercise Device for Deep Vein Thrombosis Prevention Using Thin McKibben Muscles,” 2020 8th IEEE RAS/EMBS Int. Conf. for Biomedical Robotics and Biomechatronics (BioRob), pp. 42-47, 2020.
[7] N. Saito, D. Furukawa, T. Satoh, and N. Saga, “Development of Semi-Crouching Assistive Device Using Pneumatic Artificial Muscle,” J. Robot. Mechatron., Vol.32, No.5, pp. 885-893, 2020.
[8] S. Kimura, R. Suzuki, K. Machida, M. Kashima, M. Okui, R. Nishihama, and T. Nakamura, “Development of an Exoskeleton-Type Assist Suit Utilizing Variable Stiffness Control Devices Based on Human Joint Characteristics,” MDPI J. Actuators, Vol.10, No.1, 2021.
[9] J. Yan, X. Zhang, B. Xu, and J. Zhao, “A New Spiral-Type Inflatable Pure Torsional Soft Actuator,” Soft Robotics, Vol.5, No.5, pp. 527-540, 2018.
[10] E. R. Perez-Guagnelli, S. Nejus, J. Yu, S. Miyashita, Y. Liu, and D. D. Damia, “Axially and Radially Expandable Modular Spiral Soft Actuator for Actuatoric Implantables,” 2018 IEEE Int. Conf. on Robotics and Automation (ICRA), pp. 4297-4304, 2018.
[11] T. Mitsuda and Y. Kojima, “Spiral air gripper that coils around objects of various shapes,” Proc. of the 2020 JSME Conf. on Robotics and Mechatronics, 1A1-J21, 2020.
[12] P. Yuan, G. Kawano, and H. Tsukagoshi, “Design and Modeling of Soft Pneumatic Spiral Actuator with High Contraction Ratio,” J. Robot. Mechatron., Vol.32, No.5, pp. 1061-1070, 2020.
[13] S. Shimooka, T. Akagi, S. Dohta, W. Kobayashi, and T. Shinohara, “Improvement of Home Portable Rehabilitation Device For Upper-Limbs,” JFPS Int. J. of Fluid Power System, Vol.12, No.1, pp. 10-18, 2019.
[14] W.-H. Tian, C.-C. Jhan, M. Inokuma, T. Akagi, S. Dohta, and S. Shimooka, “Development of Tetrahedral-Shaped Soft Actuator Arm as a Wrist Rehabilitation Device Using Extension Type Flexible Pneumatic Actuators,” J. Robot. Mechatron., Vol.32, No.5, pp. 931-938, 2020.
[15] S. Shimooka, T. Akagi, S. Dohta, T. Shinohara, Y. Hane, and M. Aliff, “Development of Reinforced Extension Type Flexible Pneumatic Actuator with Circumferential Restraints and its Application for Rehabilitation Device,” Int. J. of Automotive and Mechanical Engineering, Vol.17, No.3, pp. 8116-8127, 2020.
[16] S. Shimooka, Y. Hane, T. Akagi, S. Dohta, W. Kobayashi, T. Shinohara, and Y. Matsui, “Development and Attitude Control of Washable Portable Rehabilitation Device for Wrist Without Position Sensor,” JFPS Int. J. of Fluid Power System, Vol.13, No.3, pp. 25-34, 2020.
[17] K. Ogawa, “Evidence-Based Nursing Ergonomics and Body-Mechanics,” p. 28, Tokyo Denki University Press, 2008.
[18] M. Aliff, S. Dohta, and T. Akagi, “Trajectory Control of Actuator Arm Using Flexible Pneumatic Cylinders and Embedded Controller,” Proc. of 2015 IEEE/ASME Int. Conf. on Advanced Intelligent Mechatronics, pp. 1120-1125, 2015.

This article is published under a Creative Commons Attribution-NoDerivatives 4.0 Internationa License.

[1] [1] Y. Nagata, “Soft Actuators, Forefront of Development,” pp. 291-335, NTS Ltd., 2004.

[2] [2] T. Noritsugu, M. Takaiwa, and D. Sasaki, “Development of Power Assist Wear Using Pneumatic Rubber Artificial Muscles,” J. Robot. Mechatron., Vol.21, No.5, pp. 607-613, 2009.

[3] [3] Y. Matsui, T. Akagi, S. Dohta, W. Kobayashi, and H. Tamaki, “Development of Flexible Spherical Actuator with 3D Coordinate Measuring Device,” J. of Flow Control, Measurement & Visualization, Vol.6, No.2, pp. 95-106, 2018.

[4] [4] C. Thakur, K. Ogawa, and Y. Kurita, “Active Passive Nature of Assistive Wearable Gait Augment Suit for Enhanced Mobility,” J. Robot. Mechatron., Vol.30, No.5, pp. 717-728, 2018.

[5] [5] C. Ishii and K. Yoshida, “Improvement of a Lightweight Power Assist Suit for Nursing Care,” Int. J. of Engineering and Technology, Vol.11, No.4, pp. 256-261, 2019.

[6] [6] T. Chang, S. Koizumi, H. Nabae, G. Endo, K. Suzumori, K. Hatakeyama, S. Chida, and Y. Shimada, “A Wearable Ankle Exercise Device for Deep Vein Thrombosis Prevention Using Thin McKibben Muscles,” 2020 8th IEEE RAS/EMBS Int. Conf. for Biomedical Robotics and Biomechatronics (BioRob), pp. 42-47, 2020.

[7] [7] N. Saito, D. Furukawa, T. Satoh, and N. Saga, “Development of Semi-Crouching Assistive Device Using Pneumatic Artificial Muscle,” J. Robot. Mechatron., Vol.32, No.5, pp. 885-893, 2020.

[8] [8] S. Kimura, R. Suzuki, K. Machida, M. Kashima, M. Okui, R. Nishihama, and T. Nakamura, “Development of an Exoskeleton-Type Assist Suit Utilizing Variable Stiffness Control Devices Based on Human Joint Characteristics,” MDPI J. Actuators, Vol.10, No.1, 2021.

[9] [9] J. Yan, X. Zhang, B. Xu, and J. Zhao, “A New Spiral-Type Inflatable Pure Torsional Soft Actuator,” Soft Robotics, Vol.5, No.5, pp. 527-540, 2018.

[10] [10] E. R. Perez-Guagnelli, S. Nejus, J. Yu, S. Miyashita, Y. Liu, and D. D. Damia, “Axially and Radially Expandable Modular Spiral Soft Actuator for Actuatoric Implantables,” 2018 IEEE Int. Conf. on Robotics and Automation (ICRA), pp. 4297-4304, 2018.

[11] [11] T. Mitsuda and Y. Kojima, “Spiral air gripper that coils around objects of various shapes,” Proc. of the 2020 JSME Conf. on Robotics and Mechatronics, 1A1-J21, 2020.

[12] [12] P. Yuan, G. Kawano, and H. Tsukagoshi, “Design and Modeling of Soft Pneumatic Spiral Actuator with High Contraction Ratio,” J. Robot. Mechatron., Vol.32, No.5, pp. 1061-1070, 2020.

[13] [13] S. Shimooka, T. Akagi, S. Dohta, W. Kobayashi, and T. Shinohara, “Improvement of Home Portable Rehabilitation Device For Upper-Limbs,” JFPS Int. J. of Fluid Power System, Vol.12, No.1, pp. 10-18, 2019.

[14] [14] W.-H. Tian, C.-C. Jhan, M. Inokuma, T. Akagi, S. Dohta, and S. Shimooka, “Development of Tetrahedral-Shaped Soft Actuator Arm as a Wrist Rehabilitation Device Using Extension Type Flexible Pneumatic Actuators,” J. Robot. Mechatron., Vol.32, No.5, pp. 931-938, 2020.

[15] [15] S. Shimooka, T. Akagi, S. Dohta, T. Shinohara, Y. Hane, and M. Aliff, “Development of Reinforced Extension Type Flexible Pneumatic Actuator with Circumferential Restraints and its Application for Rehabilitation Device,” Int. J. of Automotive and Mechanical Engineering, Vol.17, No.3, pp. 8116-8127, 2020.

[16] [16] S. Shimooka, Y. Hane, T. Akagi, S. Dohta, W. Kobayashi, T. Shinohara, and Y. Matsui, “Development and Attitude Control of Washable Portable Rehabilitation Device for Wrist Without Position Sensor,” JFPS Int. J. of Fluid Power System, Vol.13, No.3, pp. 25-34, 2020.

[17] [17] K. Ogawa, “Evidence-Based Nursing Ergonomics and Body-Mechanics,” p. 28, Tokyo Denki University Press, 2008.

[18] [18] M. Aliff, S. Dohta, and T. Akagi, “Trajectory Control of Actuator Arm Using Flexible Pneumatic Cylinders and Embedded Controller,” Proc. of 2015 IEEE/ASME Int. Conf. on Advanced Intelligent Mechatronics, pp. 1120-1125, 2015.

Development of a Spiral Shaped Soft Holding Actuator Using Extension Type Flexible Pneumatic Actuators

So Shimooka*, Tetsuya Akagi**, Shujiro Dohta**, Takashi Shinohara***, and Takumi Kobayashi**

So Shimooka^, Tetsuya Akagi^, Shujiro Dohta^, Takashi Shinohara^, and Takumi Kobayashi^