Affiliation:
1. Robotics Institute School of Mechanical Engineering Shanghai Jiao Tong University Shanghai 200240 China
2. State Key Laboratory of Mechanical System and Vibration Shanghai Jiao Tong University Shanghai 200240 China
3. Meta Robotics Institute Shanghai Jiao Tong University Shanghai 200240 China
Abstract
AbstractArtificial muscles, providing safe and close interaction between humans and machines, are essential in soft robotics. However, their insufficient deformation, output force, or configurability usually limits their applications. Herein, this work presents a class of lightweight fabric‐lattice artificial muscles (FAMs) that are pneumatically actuated with large contraction ratios (up to 87.5%) and considerable output forces (up to a load of 20 kg, force‐to‐weight ratio of over 250). The developed FAMs consist of a group of active air chambers that are zigzag connected into a lattice through passive connecting layers. The geometry of these fabric components is programmable to convert the in‐plane lattice of FAMs into out‐of‐plane configurations (e.g., arched and cylindrical) capable of linear/radial contraction. This work further demonstrates that FAMs can be configured for various soft robotic applications, including the powerful robotic elbow with large motion range and high load capability, the well‐fitting assistive shoulder exosuit that can reduce muscle activity during abduction, and the adaptive soft gripper that can grasp irregular objects. These results show the unique features and broad potential of FAMs for high‐performance soft robots.
Funder
National Natural Science Foundation of China
Science and Technology Commission of Shanghai Municipality
Subject
Mechanical Engineering,Mechanics of Materials,General Materials Science
Cited by
10 articles.
订阅此论文施引文献
订阅此论文施引文献,注册后可以免费订阅5篇论文的施引文献,订阅后可以查看论文全部施引文献