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Origami-Structured Actuating Modules for Upper Limb Support
IEEE Robotics and Automation Letters ( IF 5.2 ) Pub Date : 2021-04-15 , DOI: 10.1109/lra.2021.3072810
Seongmin Seo , Wookeun Park , Dongman Lee , Joonbum Bae

Soft pneumatic actuators (SPAs) based on inherently compliant materials have been developed by integrating with a fabric, a fiber reinforcement, or applying origami patterns. However, the fabric and fiber-reinforced SPAs are limited by the relatively large volumes of air needed to achieve the desired motions, and conventional ‘origami-structured’ SPAs based on simple paper folding may not be durable and provide limited force. In this letter, an origami-structured actuating module fabricated by embedding a rigid origami structure in a fabric, which is applicable to any origami patterns including Yoshimura, Waterbomb, and so on, was proposed to improve durability and supporting force. Specially, the Yoshimura pattern-based origami-structured actuating module was analytically modeled to determine the design parameters of the actuating module so that it can provide enough supporting force and range of motion of the upper limb. A wearable system with the optimized origami-structured actuating module, which is durable, adaptable, and capable of supporting the upper limb motion, was developed to assist the upper limb without interfering natural movements.

中文翻译:

折纸结构的致动模块,用于上肢支撑

通过与织物,纤维增强材料或应用折纸图案集成,已经开发出基于固有顺应性材料的软气动执行器(SPA)。但是,织物和纤维增强的SPA受实现所需运动所需的相对较大的空气量的限制,并且基于简单纸折叠的常规“折纸结构” SPA可能不耐用且提供的力有限。在这封信中,提出了一种通过将刚性折纸结构嵌入织物中而制成的折纸结构致动模块,该模块适用于包括吉村,水炸弹等在内的任何折纸图案,以提高耐用性和支撑力。特别,对基于Yoshimura模式的折纸结构的致动模块进行了建模,以确定致动模块的设计参数,以便它可以提供足够的支撑力和上肢的运动范围。开发了一种具有优化的折纸结构致动模块的可穿戴系统,该系统耐用,适应性强并且能够支持上肢运动,以辅助上肢而不干扰自然运动。
更新日期:2021-04-30
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