1. School of Physics, Hefei University of Technology, Hefei 230601, China 2. School of Microelectronics, Hefei University of Technology, Hefei 230601, China
A segmented pneumatic soft actuator was designed based on the bionic principle for the problems of low fit, low flexibility, and inaccurate movement transmission of soft actuators in finger rehabilitation training. Segmented bending of the soft actuator was realized by three semi-bellows airbags with serrated structure, and the flexible strain sensors were embedded to achieve the proprioception of soft actuator. The bending deformation mathematical model of semi-bellows airbags were established, and the semi-bellows airbags were analyzed by finite element analysis. The influences of wall thickness, wave width, wave distance and ripple number on the airbags’ bending performance and terminal output force were studied, and the dimension parameters of soft actuator were selected. The soft actuator was fabricated using 3D printing technology and lost wax casting process. The characteristic test results of the soft actuator show that the maximum bending angle of the segmented soft actuator was 302°, and the terminal output force was 3.33 N, the finger was moved to do joint rehabilitation training, and the bending state of the soft actuator was monitored in real time through the flexible strain sensor.
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