Machine-Knitted Seamless Pneumatic Actuators for Soft Robotics: Design, Fabrication, and Characterization

Elmoughnı H. M. E. A., Yilmaz A. F., Özlem K., Khalilbayli F., Cappello L., Atalay A., ...Daha Fazla

ACTUATORS, cilt.10, sa.5, 2021 (SCI-Expanded) identifier identifier

  • Yayın Türü: Makale / Tam Makale
  • Cilt numarası: 10 Sayı: 5
  • Basım Tarihi: 2021
  • Doi Numarası: 10.3390/act10050094
  • Dergi Adı: ACTUATORS
  • Derginin Tarandığı İndeksler: Science Citation Index Expanded (SCI-EXPANDED), Scopus
  • Anahtar Kelimeler: soft robotics, knitted actuators, wearables, assistive devices
  • Marmara Üniversitesi Adresli: Evet

Özet

Computerized machine knitting offers an attractive fabrication technology for incorporating wearable assistive devices into garments. In this work, we utilized, for the first time, whole-garment knitting techniques to manufacture a seamless fully knitted pneumatic bending actuator, which represents an advancement to existing cut-and-sew manufacturing techniques. Various machine knitting parameters were investigated to create anisotropic actuator structures, which exhibited a range of bending and extension motions when pressurized with air. The functionality of the actuator was demonstrated through integration into an assistive glove for hand grip action. The achieved curvature range when pressurizing the actuators up to 150 kPa was sufficient to grasp objects down to 3 cm in diameter and up to 125 g in weight. This manufacturing technique is rapid and scalable, paving the way for mass-production of customizable soft robotics wearables.