Design and Development of a Multi-Functional Bioinspired Soft Robotic Actuator via Additive Manufacturing

Nikolaos Kladovasilakis; Paschalis Sideridis; Dimitrios Tzetzis; Konstantinos Piliounis; Ioannis Kostavelis; Dimitrios Tzovaras

doi:10.3390/biomimetics7030105

Design and Development of a Multi-Functional Bioinspired Soft Robotic Actuator via Additive Manufacturing

Biomimetics (Basel). 2022 Aug 3;7(3):105. doi: 10.3390/biomimetics7030105.

Authors

Nikolaos Kladovasilakis^{1

2}, Paschalis Sideridis³, Dimitrios Tzetzis², Konstantinos Piliounis³, Ioannis Kostavelis³, Dimitrios Tzovaras^{1

3}

Affiliations

¹ Centre for Research and Technology Hellas-Information Technologies Institute (CERTH/ITI), 57001 Thessaloniki, Greece.
² Digital Manufacturing and Materials Characterization Laboratory, School of Science and Technology, International Hellenic University, 57001 Thessaloniki, Greece.
³ RETOUCH-HS Private Company, 54636 Thessaloniki, Greece.

Abstract

The industrial revolution 4.0 has led to a burst in the development of robotic automation and platforms to increase productivity in the industrial and health domains. Hence, there is a necessity for the design and production of smart and multi-functional tools, which combine several cutting-edge technologies, including additive manufacturing and smart control systems. In the current article, a novel multi-functional biomimetic soft actuator with a pneumatic motion system was designed and fabricated by combining different additive manufacturing techniques. The developed actuator was bioinspired by the natural kinematics, namely the motion mechanism of worms, and was designed to imitate the movement of a human finger. Furthermore, due to its modular design and the ability to adapt the actuator's external covers depending on the requested task, this actuator is suitable for a wide range of applications, from soft (i.e., fruit grasping) or industrial grippers to medical exoskeletons for patients with mobility difficulties and neurological disorders. In detail, the motion system operates with two pneumatic chambers bonded to each other and fabricated from silicone rubber compounds molded with additively manufactured dies made of polymers. Moreover, the pneumatic system offers multiple-degrees-of-freedom motion and it is capable of bending in the range of -180° to 180°. The overall pneumatic system is protected by external covers made of 3D printed components whose material could be changed from rigid polymer for industrial applications to thermoplastic elastomer for complete soft robotic applications. In addition, these 3D printed parts control the angular range of the actuator in order to avoid the reaching of extreme configurations. Finally, the bio-robotic actuator is electronically controlled by PID controllers and its real-time position is monitored by a one-axis soft flex sensor which is embedded in the actuator's configuration.

Keywords: additive manufacturing; bio-robotics; pneumatic motion system; soft actuator.

Grants and funding

This research has been co-financed by the European Union and Greek national funds through the Operational Program Competitiveness, Entrepreneurship and Innovation, under the call RESEARCH–CREATE–INNOVATE (project name RESTORE, project code: T2EDK-05218).