Global ETD Search
Search theses and dissertations gathered from participating repositories worldwide. Every result links back to the library that holds it. No account is needed.
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Showing 1 to 11 of 11 for “"Soft Actuator"”.
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Fabrication and osmosis-mediated dynamics of a plant-inspired, fluid-filled, soft actuator
… Therefore, PTAs hold the potential to be used as soft actuators in biomedical applications which demand high force and structural support.
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An exploration of modality matched mechanotactile feedback via a soft actuator for use in prosthetic devices
… abandonment. This thesis examines whether a soft actuator made out of elastomer can be used as a way to passively transmit mechanotactile pressure noninvasively and details the design process of the actuator and a model prosthetic hand and a model gripper that incorporates the actuator. A …
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Additively Manufactured Dielectric Elastomer Actuators: Development and Performance Enhancement
… recently emerging and actively growing areas of soft robotics and morphing structures promise endless opportunities in a wide range of engineering fields, including biomedical, industrial, and aerospace. Soft actuators and sensors are essential components of any soft robot or morphing structure. …
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Building and controlling fluidically actuated soft robots : from open loop to model-based control
This thesis describes the creation and control of soft robots made of deformable elastomer materials and powered by fluidics. We embed soft fluidic actuators into self-contained soft robotic systems, such as fish for underwater exploration or soft arms for dynamic manipulation. We present models …
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Soft Bending Actuator for Body-Powered Application
Soft actuators are inherently compliant, highly dexterous, and lightweight alternatives to traditional electromechanical actuators in many robotic applications, especially human-interactive robots. This research aims to develop a soft robotic actuator that leverages body movements to mimic the …
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Towards Naturalistic Exoskeleton Glove Control for Rehabilitation and Assistance
… has been focused primarily on design, improving soft actuator and cable-driven systems, with only limited focus on intelligent control. There is a need for control that is not limited to position or force reference signals and is user-driven. By implementing a motion amplification controller to …
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Molecular design of precise ionic polymer networks for fundamental structure-property-relationships and energy-related applications
… as the electrolyte material for dopant-free soft actuators and high temperature and voltage stable solid-state supercapacitors. The ammonium nIPs were synthesized by step-growth polymerization between trifunctional amine and dibromo species to form networks with ammonium cation fixed on the …
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Soft Robotics Applied to the Development of a Diaphragm Assist System
… and swallowing. This thesis works towards a soft robotic alternative that aims to intervene internally at the diaphragm as opposed to the mouth. For medical problems that are mechanical in nature, soft robotics offer a promising solution by coupling advanced robotic control with soft elements …
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Electroosmotic Soft Actuators
… involved in creating the first paper-based soft actuator driven by electroosmosis. To accomplish this, research breakthroughs were made in the fields of electrokinetic pumping and device manufacturing using soft materials. Electroosmosis is an electrically induced microfluidic flow …
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Microscale actuators from carbon nanotube and hydrogel composites
This thesis develops and tests a novel microactuator system using carbon nanotubes (CNT) and poly(N-isopropylacrylamide) (PNIPAM) hydrogel, which have been combined to make a microactuator system with a wide range of possible designs without needing to modify the fabrication approach. These …
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Design and analysis of fiber reinforced elastomeric enclosures with application in upper arm orthosis
… Reinforced Elastomeric Enclosures (FREEs) are soft pneumatic actuators that deform in a predetermined fashion upon inflation. They are constructed using a hollow elastomeric cylinder reinforced by two families of helical fibers. This thesis analyzes the deformation behavior of FREEs by …