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Fiber Embroidery of Self-Sensing Soft Actuators

Department of Mechanical and Aerospace Engineering, Cornell University, Ithaca, NY 14850, USA
Department of Physics, Cornell University, Ithaca, NY 14850, USA
Department of Mechanical Engineering and Applied Mechanics, University of Pennsylvania, Philadelphia, PA 19104, USA
Department of Electrical and Computer Engineering, University of Louisville, Louisville, KY 40292, USA
Author to whom correspondence should be addressed.
Biomimetics 2018, 3(3), 24;
Received: 10 June 2018 / Revised: 13 August 2018 / Accepted: 18 August 2018 / Published: 4 September 2018
(This article belongs to the Special Issue Soft Robotics)
Natural organisms use a combination of contracting muscles and inextensible fibers to transform into controllable shapes, camouflage into their surrounding environment, and catch prey. Replicating these capabilities with engineered materials is challenging because of the difficulty in manufacturing and controlling soft material actuators with embedded fibers. In addition, while linear and bending motions are common in soft actuators, rotary motions require three-dimensional fiber wrapping or multiple bending or linear elements working in coordination that are challenging to design and fabricate. In this work, an automatic embroidery machine patterned Kevlar™ fibers and stretchable optical fibers into inflatable silicone membranes to control their inflated shape and enable sensing. This embroidery-based fabrication technique is simple, low cost, and allows for precise and custom patterning of fibers in elastomers. Using this technique, we developed inflatable elastomeric actuators embedded with a planar spiral pattern of high-strength Kevlar™ fibers that inflate into radially symmetric shapes and achieve nearly 180° angular rotation and 10 cm linear displacement. View Full-Text
Keywords: soft actuators; twisting; shape-changing; elastomer soft actuators; twisting; shape-changing; elastomer
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MDPI and ACS Style

Ceron, S.; Cohen, I.; Shepherd, R.F.; Pikul, J.H.; Harnett, C. Fiber Embroidery of Self-Sensing Soft Actuators. Biomimetics 2018, 3, 24.

AMA Style

Ceron S, Cohen I, Shepherd RF, Pikul JH, Harnett C. Fiber Embroidery of Self-Sensing Soft Actuators. Biomimetics. 2018; 3(3):24.

Chicago/Turabian Style

Ceron, Steven, Itai Cohen, Robert F. Shepherd, James H. Pikul, and Cindy Harnett. 2018. "Fiber Embroidery of Self-Sensing Soft Actuators" Biomimetics 3, no. 3: 24.

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