DESIGN AND ANALYSIS OF 3D MODELED SOFT PNEUMATIC ACTUATORS FOR USE IN HAND REHABILITATION DEVICES

Felix Liviu ARNĂUȚ, Tudor DEACONESCU

Abstract


A challenge faced by soft robotics is the development of an actuator able to reproduce the specific motions conducted by the human anatomy. Starting from a thorough analysis of human hand anatomy and the motions that can be generated by it, the paper presents the successive stages of the design of a pneumatic actuator that mimics the motions of the fingers, manufactured by 3D printing. The thus obtained product will be used for hand rehabilitation device deploying continuous passive motion. The designed geometrical models were subject to a series of linear static and nonlinear finite element analyses aimed at predicting their behaviour. From several proposed constructive solutions eventually, the variant was selected that best meets the requirements of imposed motions and developed forces.

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