Perez-Guagnelli, E.R., Nejus, S., Yu, J. et al. (3 more authors) (2018) Axially and radially expandable modular helical soft actuator for robotic implantables. In: Proceedings of 2018 IEEE International Conference on Robotics and Automation. 2018 IEEE International Conference on Robotics and Automation, 21-25 May 2018, Brisbane, Australia. IEEE , pp. 4297-4304. ISBN 978-1-5386-3081-5
Abstract
Soft robotics has advanced the field of biomedical engineering by creating safer technologies for interfacing with the human body. One of the challenges in this field is the realization of modular soft basic constituents and accessible assembly methods to increase the versatility of soft robots. We present a soft pneumatic actuator composed of two elastomeric strands that provide interdependent axial and radial expansion due to the modularity of the components and their helical arrangement. The actuator reaches 35% of elongation with respect to its initial height and both chambers achieve forces of 1N at about 19kPa. We describe the design, fabrication, modeling and benchtop testing of the soft actuator towards realizing 3D functional structures with potential medical applications. An example of application for soft medical robots is tissue regenerative for the long-gap esophageal atresia condition.
Metadata
Item Type: | Proceedings Paper |
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Authors/Creators: |
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Copyright, Publisher and Additional Information: | © 2018 IEEE. Personal use of this material is permitted. Permission from IEEE must be obtained for all other users, including reprinting/ republishing this material for advertising or promotional purposes, creating new collective works for resale or redistribution to servers or lists, or reuse of any copyrighted components of this work in other works. Reproduced in accordance with the publisher's self-archiving policy. |
Keywords: | Actuators; Implants; Soft robotics; Esophagus; Surgery; Mathematical model |
Dates: |
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Institution: | The University of Sheffield |
Academic Units: | The University of Sheffield > Faculty of Engineering (Sheffield) > Department of Automatic Control and Systems Engineering (Sheffield) |
Depositing User: | Symplectic Sheffield |
Date Deposited: | 22 Mar 2018 16:07 |
Last Modified: | 16 Nov 2018 12:02 |
Published Version: | https://doi.org/10.1109/ICRA.2018.8461239 |
Status: | Published |
Publisher: | IEEE |
Refereed: | Yes |
Identification Number: | 10.1109/ICRA.2018.8461239 |
Open Archives Initiative ID (OAI ID): | oai:eprints.whiterose.ac.uk:128851 |