Publication:
Effect of segment types on characterization of soft sensing textile actuators for soft wearable robots

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2022-12-01
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Abstract
The use of textiles in soft robotics is gaining popularity because of the advantages textiles offer over other materials in terms of weight, conformability, and ease of manufacture. The purpose of this research is to examine the stitching process used to construct fabric-based pneumatic bending actuators as well as the effect of segment types on the actuators\" properties when used in soft robotic glove applications. To impart bending motion to actuators, two techniques have been used: asymmetry between weave and weft knit fabric layers and mechanical anisotropy between these two textiles. The impacts of various segment types on the actuators\" grip force and bending angle were investigated further. According to experiments, segmenting the actuator with a sewing technique increases the bending angle. It was discovered that actuators with high anisotropy differences in their fabric combinations have high gripping forces. Textile-based capacitive strain sensors are also added to selected segmented actuator types, which possess desirable properties such as increased grip force, increased bending angle, and reduced radial expansion. The sensors were used to demonstrate the controllability of a soft robotic glove using a closed-loop system. Finally, we demonstrated that actuators integrated into a soft wearable glove are capable of grasping a variety of items and performing various grasp types.
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Harita Mühendisliği-Geomatik, Mühendislik ve Teknoloji, Geotechnical Engineering, Engineering and Technology, MÜHENDİSLİK, ÇOK DİSİPLİNLİ, Mühendislik, Mühendislik, Bilişim ve Teknoloji (ENG), MALZEME BİLİMİ, BİYOMATERYAL, Malzeme Bilimi, ENGINEERING, MULTIDISCIPLINARY, ENGINEERING, Engineering, Computing & Technology (ENG), MATERIALS SCIENCE, BIOMATERIALS, MATERIALS SCIENCE, Biyomalzemeler, Malzeme Bilimi (çeşitli), Genel Malzeme Bilimi, Genel Mühendislik, Medya Teknolojisi, Mühendislik (çeşitli), Fizik Bilimleri, Biomaterials, Materials Science (miscellaneous), General Materials Science, General Engineering, Media Technology, Engineering (miscellaneous), Physical Sciences, soft robotic, soft actuator, sensing actuator, textile-based actuator, wearable robot, DESIGN, GLOVE
Citation
Yilmaz A. F., Khalilbayli F., Özlem K., Elmoughnı H. M. E. A., Kalaoğlu F., Tunçay Atalay A., İnce G., Atalay Ö., "Effect of Segment Types on Characterization of Soft Sensing Textile Actuators for Soft Wearable Robots", BIOMIMETICS, cilt.7, sa.4, 2022
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