Abstract This review meta-analysis combines and compares the findings of previously published works in the field of soft wearable robots (SWRs) that provide active methods of actuation for assistive and augmentative purposes. A thorough investigation of major contributions in the field of an SWR is made to analyze trends in the field focused on fluidic and cable-driven systems, prevalent and successful approaches, and identify the future direction of SWRs and active actuation strategies. Types of soft actuators used in wearables are outlined, as well as general practices for fabrication methods of soft actuators and considerations for humanârobot interface designs of garment-like exosuits. An overview of well-known and emerging upper body (UB)- and lower body (LB)-assistive technologies is categorized by the specific joints and degree of freedom (DoF) assisted and which actuator methodology is provided. Different use cases for SWRs are addressed, as well as implementation strategies and design applications.
Wrench Analysis of Kinematically Redundant Planar CDPRs
A fully-constrained đâđˇđđš cable-driven parallel robot (CDPR) has wrench closure if there are đ+1 cables exerting positive tensions spanning the wrench space. However, the quality of wrench closure is often dependent on the geometric configuration of the supporting in-parallel chains of the CDPR. The reconfigurability endowed by adding in-chain kinematic and/or actuation redundancy to a conventional cable robot could greatly improve quality of the workspace. However, the status of various joints (active, passive or locked) affect the complexity of the systematic formulation and ultimate wrench-based analysis. Past efforts have tended to equilibrate the forces in these systems in such a way as to avoid kinematic redundancies. To this end, we formulate the kinematics of the redundant reconfigurable CDPR using matrix Lie group formulation (to allow ease of formulation and subsequent generalizability). Reciprocity (and selective reciprocity) permits the development of wrench analyses including the partitioning of actuation vs structural equilibration components. The total wrench set is greatly expanded both by the addition of kinematic redundancy and selective actuation/locking of the joints. The approach adopted facilitates the holistic determination of the true wrench polytope which accounts for the wrench contributions from all actuation sources. All these aspects are examined with variants of more »
- Editors:
- Gouttefarde M., Bruckmann T.
- Award ID(s):
- 1924721
- Publication Date:
- NSF-PAR ID:
- 10280453
- Journal Name:
- Cable-Driven Parallel Robots. CableCon 2021. Mechanisms and Machine Science
- Volume:
- 104
- Page Range or eLocation-ID:
- 90-104
- Sponsoring Org:
- National Science Foundation
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Accepted Manuscript1.0
- Publisher's Version of Record
- https://doi.org/10.1007/978-3-030-75789-2_8
