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Study on Reinforced Soft Actuator for Exoskeleton Actuators
- Date Issued:
- 2018
- Abstract/Description:
- This thesis concerns the design, construction, control, and testing of soft robotic actuators to be used in a soft robotic exoskeleton; the Boa Exoskeleton could be used for joint rehabilitation including: wrist, elbow and possibly shoulder or any joint that requires a soft body actuator to aid with bending movement. We detail the design, modeling and fabrication of two types of actuators: Fiber-reinforced Actuator and PneuNet Actuator. Fiber-Reinforced actuator was chosen for the exoskeleton due to its higher force. The Fiber-Reinforced actuator molds were 3D printed, four models were made. Two materials were used to fabricate the models: Dragon Skin 30A and Sort-A-Clear 40A. Two number of windings: (n=40) and (n=25), actuators wrapped with carbon fiber. An air tank was used to supply pressure. The actuators were studied at different pressures. Pressure-force relation was studied, and a close to linear relationship was found. Boa Exoskeleton was made for wrist. Electromyography (EMG) was used; Four EMG receptors were put around the arm. EMG was utilized to actuate the Boa Exoskeleton and record the muscle movement. Five tests were done on six human subjects to validate the Boa Exoskeleton.
Title: | Study on Reinforced Soft Actuator for Exoskeleton Actuators. |
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Name(s): |
Shuqir, Mohammad, author Engeberg, Erik, Thesis advisor Florida Atlantic University, Degree grantor College of Engineering and Computer Science Department of Ocean and Mechanical Engineering |
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Type of Resource: | text | |
Genre: | Electronic Thesis Or Dissertation | |
Date Created: | 2018 | |
Date Issued: | 2018 | |
Publisher: | Florida Atlantic University | |
Place of Publication: | Boca Raton, Fla. | |
Physical Form: | application/pdf | |
Extent: | 121 p. | |
Language(s): | English | |
Abstract/Description: | This thesis concerns the design, construction, control, and testing of soft robotic actuators to be used in a soft robotic exoskeleton; the Boa Exoskeleton could be used for joint rehabilitation including: wrist, elbow and possibly shoulder or any joint that requires a soft body actuator to aid with bending movement. We detail the design, modeling and fabrication of two types of actuators: Fiber-reinforced Actuator and PneuNet Actuator. Fiber-Reinforced actuator was chosen for the exoskeleton due to its higher force. The Fiber-Reinforced actuator molds were 3D printed, four models were made. Two materials were used to fabricate the models: Dragon Skin 30A and Sort-A-Clear 40A. Two number of windings: (n=40) and (n=25), actuators wrapped with carbon fiber. An air tank was used to supply pressure. The actuators were studied at different pressures. Pressure-force relation was studied, and a close to linear relationship was found. Boa Exoskeleton was made for wrist. Electromyography (EMG) was used; Four EMG receptors were put around the arm. EMG was utilized to actuate the Boa Exoskeleton and record the muscle movement. Five tests were done on six human subjects to validate the Boa Exoskeleton. | |
Identifier: | FA00013098 (IID) | |
Degree granted: | Thesis (M.S.)--Florida Atlantic University, 2018. | |
Collection: | FAU Electronic Theses and Dissertations Collection | |
Note(s): | Includes bibliography. | |
Subject(s): |
Actuators--Design and construction. Robotic exoskeletons. Actuators--Materials. |
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Held by: | Florida Atlantic University Libraries | |
Sublocation: | Digital Library | |
Persistent Link to This Record: | http://purl.flvc.org/fau/fd/FA00013098 | |
Use and Reproduction: | Copyright © is held by the author, with permission granted to Florida Atlantic University to digitize, archive and distribute this item for non-profit research and educational purposes. Any reuse of this item in excess of fair use or other copyright exemptions requires permission of the copyright holder. | |
Use and Reproduction: | http://rightsstatements.org/vocab/InC/1.0/ | |
Host Institution: | FAU | |
Is Part of Series: | Florida Atlantic University Digital Library Collections. |