High‐Stroke, High‐Output‐Force, Fabric‐Lattice Artificial Muscles for Soft Robots

Author:

Yang Dezhi12,Feng Miao12,Gu Guoying123ORCID

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

Publisher

Wiley

Subject

Mechanical Engineering,Mechanics of Materials,General Materials Science

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