{"id":5938,"date":"2022-01-26T22:37:17","date_gmt":"2022-01-27T03:37:17","guid":{"rendered":"https:\/\/courses.ideate.cmu.edu\/16-376\/s2022\/?p=5938"},"modified":"2022-01-27T12:49:10","modified_gmt":"2022-01-27T17:49:10","slug":"automatic-design-of-fiber-reinforced-soft-actuators-for-trajectory-matching","status":"publish","type":"post","link":"https:\/\/courses.ideate.cmu.edu\/16-376\/s2022\/5938\/automatic-design-of-fiber-reinforced-soft-actuators-for-trajectory-matching\/","title":{"rendered":"Fiber-reinforced soft actuators for trajectory matching  | Carolyn Youstra"},"content":{"rendered":"\n<p>Biologically Inspired Engineering, Harvard<br>University, Cambridge, MA<\/p>\n\n\n\n<p><\/p>\n\n\n\n<p><em>A design strategy that takes a kinematic trajectory as its input<br>and uses analytical modeling based on nonlinear elasticity and<br>optimization to identify the optimal design parameters for an<br>actuator that will follow this trajectory upon pressurization. <\/em>&nbsp;<\/p>\n\n\n\n<figure class=\"wp-block-image size-full\"><img loading=\"lazy\" width=\"828\" height=\"990\" src=\"https:\/\/courses.ideate.cmu.edu\/16-376\/s2022\/wp-content\/uploads\/2022\/01\/Screen-Shot-2022-01-26-at-11.06.54-PM.jpg\" alt=\"\" class=\"wp-image-5948\" srcset=\"https:\/\/courses.ideate.cmu.edu\/16-376\/s2022\/wp-content\/uploads\/2022\/01\/Screen-Shot-2022-01-26-at-11.06.54-PM.jpg 828w, https:\/\/courses.ideate.cmu.edu\/16-376\/s2022\/wp-content\/uploads\/2022\/01\/Screen-Shot-2022-01-26-at-11.06.54-PM-251x300.jpg 251w, https:\/\/courses.ideate.cmu.edu\/16-376\/s2022\/wp-content\/uploads\/2022\/01\/Screen-Shot-2022-01-26-at-11.06.54-PM-768x918.jpg 768w, https:\/\/courses.ideate.cmu.edu\/16-376\/s2022\/wp-content\/uploads\/2022\/01\/Screen-Shot-2022-01-26-at-11.06.54-PM-508x607.jpg 508w\" sizes=\"(max-width: 828px) 100vw, 828px\" \/><figcaption>Designing an actuator that replicates a complex input motion.<br>(A) Analytical models of actuator segments that can extend, expand, twist, or<br>bend are the first input to the design tool. (B) The second input to the design<br>tool is the kinematics of the desired motion. (C) The design tool outputs the<br>optimal segment lengths and fiber angles for replicating the input motion.<\/figcaption><\/figure>\n\n\n\n<h3><strong>Videos.<\/strong><\/h3>\n\n\n\n<figure class=\"wp-block-video\"><video controls src=\"https:\/\/static-movie-usa.glencoesoftware.com\/webm\/10.1073\/970\/1d580aaba4a17e8658f0cd6510414a6531013dc1\/pnas.1615140114.sm01.webm\"><\/video><\/figure>\n\n\n\n<figure class=\"wp-block-video\"><video controls src=\"https:\/\/static-movie-usa.glencoesoftware.com\/webm\/10.1073\/970\/1d580aaba4a17e8658f0cd6510414a6531013dc1\/pnas.1615140114.sm02.webm\"><\/video><\/figure>\n\n\n\n<figure class=\"wp-block-image size-large\"><img loading=\"lazy\" width=\"1024\" height=\"702\" src=\"https:\/\/courses.ideate.cmu.edu\/16-376\/s2022\/wp-content\/uploads\/2022\/01\/Screen-Shot-2022-01-26-at-11.03.53-PM-1024x702.jpg\" alt=\"\" class=\"wp-image-5946\" srcset=\"https:\/\/courses.ideate.cmu.edu\/16-376\/s2022\/wp-content\/uploads\/2022\/01\/Screen-Shot-2022-01-26-at-11.03.53-PM-1024x702.jpg 1024w, https:\/\/courses.ideate.cmu.edu\/16-376\/s2022\/wp-content\/uploads\/2022\/01\/Screen-Shot-2022-01-26-at-11.03.53-PM-300x206.jpg 300w, https:\/\/courses.ideate.cmu.edu\/16-376\/s2022\/wp-content\/uploads\/2022\/01\/Screen-Shot-2022-01-26-at-11.03.53-PM-768x526.jpg 768w, https:\/\/courses.ideate.cmu.edu\/16-376\/s2022\/wp-content\/uploads\/2022\/01\/Screen-Shot-2022-01-26-at-11.03.53-PM-973x667.jpg 973w, https:\/\/courses.ideate.cmu.edu\/16-376\/s2022\/wp-content\/uploads\/2022\/01\/Screen-Shot-2022-01-26-at-11.03.53-PM-508x348.jpg 508w, https:\/\/courses.ideate.cmu.edu\/16-376\/s2022\/wp-content\/uploads\/2022\/01\/Screen-Shot-2022-01-26-at-11.03.53-PM.jpg 1436w\" sizes=\"(max-width: 1024px) 100vw, 1024px\" \/><\/figure>\n\n\n\n<figure class=\"wp-block-image size-large\"><img loading=\"lazy\" width=\"431\" height=\"1024\" src=\"https:\/\/courses.ideate.cmu.edu\/16-376\/s2022\/wp-content\/uploads\/2022\/01\/Screen-Shot-2022-01-26-at-11.04.57-PM-431x1024.jpg\" alt=\"\" class=\"wp-image-5947\" srcset=\"https:\/\/courses.ideate.cmu.edu\/16-376\/s2022\/wp-content\/uploads\/2022\/01\/Screen-Shot-2022-01-26-at-11.04.57-PM-431x1024.jpg 431w, https:\/\/courses.ideate.cmu.edu\/16-376\/s2022\/wp-content\/uploads\/2022\/01\/Screen-Shot-2022-01-26-at-11.04.57-PM-126x300.jpg 126w, https:\/\/courses.ideate.cmu.edu\/16-376\/s2022\/wp-content\/uploads\/2022\/01\/Screen-Shot-2022-01-26-at-11.04.57-PM-508x1207.jpg 508w, https:\/\/courses.ideate.cmu.edu\/16-376\/s2022\/wp-content\/uploads\/2022\/01\/Screen-Shot-2022-01-26-at-11.04.57-PM.jpg 574w\" sizes=\"(max-width: 431px) 100vw, 431px\" \/><\/figure>\n\n\n\n<ul><li>What feature of the work could we specifically evolve into a technique for wearable kinetic sculpture or costume?&nbsp;<\/li><\/ul>\n\n\n\n<p>Using fiber reinforced air pouches to control the shape that a pneumatic actuator makes. Offers many possibilities for complex output motion using a simple control input.<\/p>\n\n\n\n<ul><li>What details of the artwork or concept are not immediately apparent and how do they inform the work? <\/li><\/ul>\n\n\n\n<p>The work is more of a proof-of-concept, and there aren&#8217;t explicit applications that are supplied. The fiber reinforcement of the pneumatic pouches are not apparent in the way they will perform &#8211; thus they offer an element of surprise.<\/p>\n\n\n\n<p>Similar approaches:<\/p>\n\n\n\n<p>Fibers do the work!<\/p>\n\n\n\n<figure class=\"wp-block-embed is-type-video is-provider-youtube wp-block-embed-youtube wp-embed-aspect-16-9 wp-has-aspect-ratio\"><div class=\"wp-block-embed__wrapper\">\n<iframe loading=\"lazy\" title=\"Robotic fibers can make breath-monitoring garments\" width=\"620\" height=\"349\" src=\"https:\/\/www.youtube.com\/embed\/JDT7Nt_sBqQ?feature=oembed\" frameborder=\"0\" allow=\"accelerometer; autoplay; clipboard-write; encrypted-media; gyroscope; picture-in-picture\" allowfullscreen><\/iframe>\n<\/div><\/figure>\n\n\n\n<p><strong>Application<\/strong><\/p>\n\n\n\n<figure class=\"wp-block-embed is-type-video is-provider-youtube wp-block-embed-youtube wp-embed-aspect-16-9 wp-has-aspect-ratio\"><div class=\"wp-block-embed__wrapper\">\n<iframe loading=\"lazy\" title=\"Soft Robotic Prosthetic Hand Demonstration (Fiber-Reinforced Actuators)\" width=\"620\" height=\"349\" src=\"https:\/\/www.youtube.com\/embed\/WJrTidZlilw?feature=oembed\" frameborder=\"0\" allow=\"accelerometer; autoplay; clipboard-write; encrypted-media; gyroscope; picture-in-picture\" allowfullscreen><\/iframe>\n<\/div><\/figure>\n\n\n\n<p>Additional Resources<\/p>\n\n\n\n<p><a href=\"https:\/\/www.mdpi.com\/2076-3417\/9\/15\/3108\/htm\">https:\/\/www.mdpi.com\/2076-3417\/9\/15\/3108\/htm<\/a><\/p>\n\n\n\n<p><\/p>\n\n\n\n<p><\/p>\n","protected":false},"excerpt":{"rendered":"<p>Biologically Inspired Engineering, HarvardUniversity, Cambridge, MA A design strategy that takes a kinematic trajectory as its inputand uses analytical modeling based on nonlinear elasticity andoptimization to identify the&#8230;<\/p>\n","protected":false},"author":91,"featured_media":0,"comment_status":"open","ping_status":"closed","sticky":false,"template":"","format":"standard","meta":[],"categories":[12],"tags":[],"_links":{"self":[{"href":"https:\/\/courses.ideate.cmu.edu\/16-376\/s2022\/wp-json\/wp\/v2\/posts\/5938"}],"collection":[{"href":"https:\/\/courses.ideate.cmu.edu\/16-376\/s2022\/wp-json\/wp\/v2\/posts"}],"about":[{"href":"https:\/\/courses.ideate.cmu.edu\/16-376\/s2022\/wp-json\/wp\/v2\/types\/post"}],"author":[{"embeddable":true,"href":"https:\/\/courses.ideate.cmu.edu\/16-376\/s2022\/wp-json\/wp\/v2\/users\/91"}],"replies":[{"embeddable":true,"href":"https:\/\/courses.ideate.cmu.edu\/16-376\/s2022\/wp-json\/wp\/v2\/comments?post=5938"}],"version-history":[{"count":5,"href":"https:\/\/courses.ideate.cmu.edu\/16-376\/s2022\/wp-json\/wp\/v2\/posts\/5938\/revisions"}],"predecessor-version":[{"id":6021,"href":"https:\/\/courses.ideate.cmu.edu\/16-376\/s2022\/wp-json\/wp\/v2\/posts\/5938\/revisions\/6021"}],"wp:attachment":[{"href":"https:\/\/courses.ideate.cmu.edu\/16-376\/s2022\/wp-json\/wp\/v2\/media?parent=5938"}],"wp:term":[{"taxonomy":"category","embeddable":true,"href":"https:\/\/courses.ideate.cmu.edu\/16-376\/s2022\/wp-json\/wp\/v2\/categories?post=5938"},{"taxonomy":"post_tag","embeddable":true,"href":"https:\/\/courses.ideate.cmu.edu\/16-376\/s2022\/wp-json\/wp\/v2\/tags?post=5938"}],"curies":[{"name":"wp","href":"https:\/\/api.w.org\/{rel}","templated":true}]}}