A Dual Cavity Pleated Structures Soft Pneumatic Actuator for Soft Robotic Applications

Shakiru Olajide Kassim; Krisjanis Visnevskis; Vahid Vaziri; Sumeet S. Aphale

doi:10.1109/AFRICON55910.2023.10293725

A Dual Cavity Pleated Structures Soft Pneumatic Actuator for Soft Robotic Applications

Shakiru Olajide Kassim, Krisjanis Visnevskis, Vahid Vaziri, Sumeet S. Aphale

The Federal Polytechnic Damaturu

Research output: Chapter in Book/Report/Conference proceeding › Published conference contribution

Abstract

The overwhelming popularity and growth in evolution of soft robotics is largely credited to the ever-increasing design and capability portfolio of soft pneumatic actuators (SPAs). Despite the numerous challenges that complicate their modeling and control, viz: geometrical and material nonlinearities, intrinsic dynamic behaviour and diverse control requirements, they have found more application in flexible robots design. To this end, this work presents a design of a novel dual cavity pleated structure soft pneumatic actuator (DCPS-SPA) targeted towards providing enhanced dexterous applications. In order to achieve this, the finite-element model (FEM) of the DCPS-SPA is presented to describe its dynamic behaviour using the Ogden hyperelasticity model parameters. The bending angle and contact force are experimentally validated and compared with the FEM results and a single cavity type SPA, respectively. Experimental results obtained show a promising possibility of utilizing the proposed DCPS-SPA for enhanced dexterous manipulation applications.

Original language	English
Title of host publication	Proceedings of the 16th IEEE AFRICON, AFRICON 2023
Publisher	Institute of Electrical and Electronics Engineers Inc.
Number of pages	6
ISBN (Electronic)	9798350336214
DOIs	https://doi.org/10.1109/AFRICON55910.2023.10293725
Publication status	Published - 31 Oct 2023
Event	IEEE Africon 2023: Advancing Technology in Africa Towards Presence on the Global Stage - Kenya School of Monetary Studies, Nairobi, Kenya Duration: 20 Sept 2023 → 22 Sept 2023 https://2023.ieee-africon.org/

Publication series

Name	IEEE AFRICON Conference
ISSN (Print)	2153-0025
ISSN (Electronic)	2153-0033

Conference

Conference	IEEE Africon 2023
Country/Territory	Kenya
City	Nairobi
Period	20/09/23 → 22/09/23
Internet address	https://2023.ieee-africon.org/

Bibliographical note

Funding Information:
This research work is supported by The Nigerian Petroleum Technology Development Fund (PTDF) under the PhD Research grant: PTDF/ED/OSS/PHD/SOK/052/18) awarded to S. O. Kassim.

Keywords

bending angle
blocking force
flexible robots
Ogden model
Pleated structures

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10.1109/AFRICON55910.2023.10293725Licence: Unspecified

Cite this

A Dual Cavity Pleated Structures Soft Pneumatic Actuator for Soft Robotic Applications. / Kassim, Shakiru Olajide; Visnevskis, Krisjanis; Vaziri, Vahid et al.
Proceedings of the 16th IEEE AFRICON, AFRICON 2023. Institute of Electrical and Electronics Engineers Inc., 2023. (IEEE AFRICON Conference).

Research output: Chapter in Book/Report/Conference proceeding › Published conference contribution

Kassim, SO, Visnevskis, K, Vaziri, V & Aphale, SS 2023, A Dual Cavity Pleated Structures Soft Pneumatic Actuator for Soft Robotic Applications. in Proceedings of the 16th IEEE AFRICON, AFRICON 2023. IEEE AFRICON Conference, Institute of Electrical and Electronics Engineers Inc., IEEE Africon 2023, Nairobi, Kenya, 20/09/23. https://doi.org/10.1109/AFRICON55910.2023.10293725

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N2 - The overwhelming popularity and growth in evolution of soft robotics is largely credited to the ever-increasing design and capability portfolio of soft pneumatic actuators (SPAs). Despite the numerous challenges that complicate their modeling and control, viz: geometrical and material nonlinearities, intrinsic dynamic behaviour and diverse control requirements, they have found more application in flexible robots design. To this end, this work presents a design of a novel dual cavity pleated structure soft pneumatic actuator (DCPS-SPA) targeted towards providing enhanced dexterous applications. In order to achieve this, the finite-element model (FEM) of the DCPS-SPA is presented to describe its dynamic behaviour using the Ogden hyperelasticity model parameters. The bending angle and contact force are experimentally validated and compared with the FEM results and a single cavity type SPA, respectively. Experimental results obtained show a promising possibility of utilizing the proposed DCPS-SPA for enhanced dexterous manipulation applications.

AB - The overwhelming popularity and growth in evolution of soft robotics is largely credited to the ever-increasing design and capability portfolio of soft pneumatic actuators (SPAs). Despite the numerous challenges that complicate their modeling and control, viz: geometrical and material nonlinearities, intrinsic dynamic behaviour and diverse control requirements, they have found more application in flexible robots design. To this end, this work presents a design of a novel dual cavity pleated structure soft pneumatic actuator (DCPS-SPA) targeted towards providing enhanced dexterous applications. In order to achieve this, the finite-element model (FEM) of the DCPS-SPA is presented to describe its dynamic behaviour using the Ogden hyperelasticity model parameters. The bending angle and contact force are experimentally validated and compared with the FEM results and a single cavity type SPA, respectively. Experimental results obtained show a promising possibility of utilizing the proposed DCPS-SPA for enhanced dexterous manipulation applications.

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A Dual Cavity Pleated Structures Soft Pneumatic Actuator for Soft Robotic Applications

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Bibliographical note

Keywords

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