Abstract
This paper evaluates four designs of circumferential pneumatic soft-actuator and shows its application to a soft stomach robot. The testing of the design is based on a finite element analysis of geometrical displacement and related pressurisation. In a biological human stomach, the antral contraction wave deformation is represented in a ring-shaped structure. The inspiration of such behavior of deformation leads to a proposal of a ring-shaped soft actuator. The proposed actuator includes a pneumatic system with multi-chambers and multi-layers to produce a deformation similar to that in the stomach organ. There are four proposed chamber designs: semicircular, cylindrical, ellipsoidal and semirectangular. The body of the actuator is made of soft material (silicone) with a high stress/strain relationship in order to exhibit large deformation behavior. In this article, the evaluation of four possible shapes of pneumatic chambers of the circumferential soft-actuator is examined and compared by Finite Element Analysis to simulate the displacement of each soft actuator. Two different methods are used in the experiments: (1) we applied the same pressure to all actuators and compare the displacements, (2) we applied different pressures to obtain the maximum pressure in each actuator before distortion and then examine the maximum displacement that can be achieved.
This is a preview of subscription content, log in via an institution to check access.
Access this chapter
Tax calculation will be finalised at checkout
Purchases are for personal use only
Similar content being viewed by others
References
Rus, D., Tolley, M.T.: Design, fabrication and control of soft robots. Nature 521(7553), 467–475 (2015)
Shepherd, R.F., Ilievski, F., Choi, W., Morin, S.A., Stokes, A.A., Mazzeo, A.D., Chen, X., Wang, M., Whitesides, G.M.: Multigait soft robot. Proc. Natl. Acad. Sci. USA 108(51), 20400–20403 (2011). Cited By (since 1996):51
Lin, H.T., Leisk, G.G., Trimmer, B.: Goqbot: a caterpillar-inspired soft-bodied rolling robot. Bioinspir. Biomim. 6(2) (2011). Cited By (since 1996):24
Laschi, C., Cianchetti, M., Mazzolai, B., Margheri, L., Follador, M., Dario, P.: Soft robot arm inspired by the octopus. Adv. Robot. 26(7), 709–727 (2012)
Trimmer, B.A.: New challenges in biorobotics: incorporating soft tissue into control systems. Appl. Bionics Biomech. 5(3), 119–126 (2008). Cited By (since 1996):6
Kim, S., Laschi, C., Trimmer, B.: Soft robotics: a bioinspired evolution in robotics. Trends Biotechnol. 31(5), 287–294 (2013). Cited By (since 1996):4
Cianchetti, M., Calisti, M., Margheri, L., Kuba, M., Laschi, C.: Bioinspired locomotion and grasping in water: the soft eight-arm octopus robot. Bioinspir. Biomim. 10(3), 035003 (2015)
Dirven, S., Stommel, M., Hashem, R., Xu, W.: Medically-inspired approaches for the analysis of soft-robotic motion control. In: 2016 IEEE 14th International Workshop on Advanced Motion Control (AMC), pp. 370–375
Dirven, S., Chen, F., Xu, W., Bronlund, J.E., Allen, J., Cheng, L.K.: Design and characterization of a peristaltic actuator inspired by esophageal swallowing. IEEE/ASME Trans. Mech. 19(4), 1234–1242 (2014)
Condino, S., Harada, K., Pak, N., Piccigallo, M., Menciassi, A., Dario, P.: Stomach simulator for analysis and validation of surgical endoluminal robots. Appl. Bionics Biomech. 8(2), 267–277 (2011)
Trimmer, B.A., Lin, H.T., Baryshyan, A., Leisk, G.G., Kaplan, D.L.: Towards a biomorphic soft robot: design constraints and solutions. In: Proceedings of the IEEE RAS and EMBS International Conference on Biomedical Robotics and Biomechatronics, pp. 599–605 (2012). Cited By (since 1996):4
Cheng, L.K., Komuro, R., Austin, T.M., Buist, M.L., Pullan, A.J.: Anatomically realistic multiscale models of normal and abnormal gastrointestinal electrical activity. World J. Gastroenterol. 13(9), 1378 (2007)
Benshitrit, R.C., Levi, C.S., Tal, S.L., Shimoni, E., Lesmes, U.: Development of oral food-grade delivery systems: current knowledge and future challenges. Food Funct. 3(1), 10–21 (2012)
Cheng, L.K., O’Grady, G., Du, P., Egbuji, J.U., Windsor, J.A., Pullan, A.J.: Gastrointestinal system. Wiley Interdiscip. Rev.: Syst. Biol. Med. 2(1), 65–79 (2010)
Ehrlein, H.J., Schemann, M.: Gastrointestinal Motility
Schulze, K.: Imaging and modelling of digestion in the stomach and the duodenum. Neurogastroenterol. Motil. 18(3), 172–183 (2006)
Keet, A.D.: Infantile hypertrophic pyloric stenosis. In: The Pyloric Sphincteric Cylinder in Health and Disease, p. 107. Springer, Berlin, Heidelberg (2009)
Kwiatek, M.A., Steingoetter, A., Pal, A., Menne, D., Brasseur, J.G., Hebbard, G.S., Boesiger, P., Thumshirn, M., Fried, M., Schwizer, W.: Quantification of distal antral contractile motility in healthy human stomach with magnetic resonance imaging. J. Magnet. Reson. Imaging 24(5), 1101–1109 (2006)
Hashem, R., Xu, W., Stommel, M., Cheng, L.: Conceptualisation and specification of a biologically-inspired, soft-bodied gastric robot. In: 2016 23rd International Conference on Mechatronics and Machine Vision in Practice (M2VIP), pp. 1–6, Nov 2016
Dirven, S., Chen, F., Xu, W., Bronlund, J.E., Allen, J., Cheng, L.K.: Design and characterization of a peristaltic actuator inspired by esophageal swallowing (2013)
Dang, Y., Cheng, L.K., Stommel, M., Xu, W.: Technical requirements and conceptualization of a soft pneumatic actuator inspired by human gastric motility. In: 2016 23rd International Conference on Mechatronics and Machine Vision in Practice (M2VIP), pp. 1–6, Nov 2016
Moseley, P., Florez, J.M., Sonar, H.A., Agarwal, G., Curtin, W., Paik, J.: Modeling, design, and development of soft pneumatic actuators with finite element method. Adv. Eng. Mater. (2015)
Acknowledgements
The work presented in this paper was funded by New Zealand Medical Technologies Centre of Research Excellence (MedTech CoRE).
Author information
Authors and Affiliations
Corresponding author
Editor information
Editors and Affiliations
Rights and permissions
Copyright information
© 2019 Springer International Publishing AG, part of Springer Nature
About this paper
Cite this paper
Hashem, R., Xu, W., Stommel, M., Cheng, L.K. (2019). FEA Evaluation of Ring-Shaped Soft-Actuators for a Stomach Robot. In: Kim, JH., et al. Robot Intelligence Technology and Applications 5. RiTA 2017. Advances in Intelligent Systems and Computing, vol 751. Springer, Cham. https://doi.org/10.1007/978-3-319-78452-6_38
Download citation
DOI: https://doi.org/10.1007/978-3-319-78452-6_38
Published:
Publisher Name: Springer, Cham
Print ISBN: 978-3-319-78451-9
Online ISBN: 978-3-319-78452-6
eBook Packages: Intelligent Technologies and RoboticsIntelligent Technologies and Robotics (R0)