Methodology for designing and manufacturing complex biologically inspired soft robotic fluidic actuators: Prosthetic hand case study

Thompson-Bean, E and Das, R 2016, 'Methodology for designing and manufacturing complex biologically inspired soft robotic fluidic actuators: Prosthetic hand case study', Bioinspiration and Biomimetics, vol. 11, no. 6, pp. 1-27.


Document type: Journal Article
Collection: Journal Articles

Title Methodology for designing and manufacturing complex biologically inspired soft robotic fluidic actuators: Prosthetic hand case study
Author(s) Thompson-Bean, E
Das, R
Year 2016
Journal name Bioinspiration and Biomimetics
Volume number 11
Issue number 6
Start page 1
End page 27
Total pages 27
Publisher Institute of Physics Publishing Ltd.
Abstract We present a novel methodology for the design and manufacture of complex biologically inspired soft robotic fluidic actuators. The methodology is applied to the design and manufacture of a prosthetic for the hand. Real human hands are scanned to produce a 3D model of a finger, and pneumatic networks are implemented within it to produce a biomimetic bending motion. The finger is then partitioned into material sections, and a genetic algorithm based optimization, using finite element analysis, is employed to discover the optimal material for each section. This is based on two biomimetic performance criteria. Two sets of optimizations using two material sets are performed. Promising optimized material arrangements are fabricated using two techniques to validate the optimization routine, and the fabricated and simulated results are compared. We find that the optimization is successful in producing biomimetic soft robotic fingers and that fabrication of the fingers is possible. Limitations and paths for development are discussed. This methodology can be applied for other fluidic soft robotic devices.
Subject Materials Engineering not elsewhere classified
Keyword(s) finite element analysis
fluidic actuator
genetic algorithm
optimization
prosthetic
soft robot
DOI - identifier 10.1088/1748-3190/11/6/066005
Copyright notice © 2016 IOP Publishing
ISSN 1748-3182
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