Design, fabrication, and characterization of soft pneumatic actuators towards soft wearable robotic applications

摘要

This dissertation explores the feasibility of utilizing soft robotic technology for wearable robotic applications. In the field of soft robotics, soft pneumatic actuators are particularly of interest due to their inherent compliance and reduced control complexity. The objective of this dissertation is to develop soft pneumatic actuators that are suitable for wearable robotic applications, particularly on hand assistive exoskeleton. To accomplish this goal, soft pneumatic actuators have been developed using different types of materials and fabrication techniques. The performances of the actuators are characterized systematically. The feasibility of using these actuators to develop hand assistive exoskeletons has been investigated and the devices are evaluated experimentally on healthy participants and patients. This work represents an exciting proof of concept result for soft wearable hand exoskeleton developed using soft pneumatic actuators, demonstrating that these devices can support the range of motions performed by biological fingers and assist patients with functional tasks.