This paper presents a fully coupled fluid-structure interaction (FSI) simulation model of soft pneumatic actuator (SPA). Previous research on modelling and SPAs mostly involves finite element (FEM), in which the fluid pressure is considered as load uniformly acting internal walls actuator. However, FEM does not capture physics flow inside an SPA. An accurate physical behaviour SPA requires two-...

This paper presents preliminary results for the design, development and evaluation of a hand rehabilitation glove fabricated using soft robotic technology. Soft actuators comprised of elastomeric materials with integrated channels that function as pneumatic networks (PneuNets), are designed and geometrically analyzed to produce bending motions that can safely conform with the human finger motio...

Measuring and controlling Pneumatic Artificial Muscles (PAMs) without instrumented, mechanical structures can be challenging. This is the case, for example, when the actuators are used in soft, human exosuits [5]. “Smart Braids” measure the length of PAMs through the inductance of a conductive braid. The inductance increases linearly with the contraction of the actuator. We have modeled and tes...

The identification of the modal parameters of bridges and other large civil constructions has become an important research issue. Different approaches have been proposed depending on the excitation used: ambient excitations (OMA), artificial excitations (EMA), or a combination of both (OMAX). In practice, it turns out that not all modes are well excited by the ambient forces, and so, the applic...

This paper reports mechanical testing and modeling results for the McKibben artificial muscle pneumatic actuator. This device, first developed in the 1950's, contains an expanding tube surrounded by braided cords. We report static and dynamic length-tension testing results and derive a linearized model of these properties for three different models. The results are briefly compared with human m...

This paper reports mechanical testing and modeling results for the McKibben artificial muscle pneumatic actuator. This device, first developed in the 1950's, contains an expanding tube surrounded by braided cords. We report static and dynamic length-tension testing results and derive a linearized model of these properties for three different models. The results are briefly compared with human m...

This paper proposes a variation on a sliding mode control approach that provides significant energy savings for the control of pneumatic servo systems. The control methodology is formulated by first decoupling the standard four-way spool valve used for pneumatic servo control into two three-way valves, then using the resulting two control degrees of freedom to simultaneously satisfy both the sl...

In this work a pneumatically driven mock left ventricle and a native left ventricle are modeled and alternatively connected to the numerical model of a closed circulatory system comprising the systemic circulation, the left atrium, and inlet and outlet ventricular valves. By simulating physiological changes of the system working conditions, behavior and preload sensitivity of the pneumatic vent...

As the intelligence and the functionality of microrobots increase, there is a growing need to incorporate sensors into these robots. In order to imit the outer dimensions of these microsystems, this research investigates sensors that can be integrated efficiently into microactuators. Here, a neumatic piston-cylinder microactuator with an integrated inductive position sensor was developed. The m...