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23 pages, 2516 KiB

Open AccessArticle

Knitting Robots: A Deep Learning Approach for Reverse-Engineering Fabric Patterns

by Haoliang Sheng, Songpu Cai, Xingyu Zheng and Mengcheng Lau

Electronics 2025, 14(8), 1605; https://doi.org/10.3390/electronics14081605 - 16 Apr 2025

Viewed by 2247

Knitting, a cornerstone of textile manufacturing, is uniquely challenging to automate, particularly in terms of converting fabric designs into precise, machine-readable instructions. This research bridges the gap between textile production and robotic automation by proposing a novel deep learning-based pipeline for reverse knitting [...] Read more.

Knitting, a cornerstone of textile manufacturing, is uniquely challenging to automate, particularly in terms of converting fabric designs into precise, machine-readable instructions. This research bridges the gap between textile production and robotic automation by proposing a novel deep learning-based pipeline for reverse knitting to integrate vision-based robotic systems into textile manufacturing. The pipeline employs a two-stage architecture, enabling robots to first identify front labels before inferring complete labels, ensuring accurate, scalable pattern generation. By incorporating diverse yarn structures, including single-yarn (sj) and multi-yarn (mj) patterns, this study demonstrates how our system can adapt to varying material complexities. Critical challenges in robotic textile manipulation, such as label imbalance, underrepresented stitch types, and the need for fine-grained control, are addressed by leveraging specialized deep-learning architectures. This work establishes a foundation for fully automated robotic knitting systems, enabling customizable, flexible production processes that integrate perception, planning, and actuation, thereby advancing textile manufacturing through intelligent robotic automation. Full article

(This article belongs to the Special Issue Bridging the Gap between Deep Learning and Probabilistic Inference for Advancements in Robotics)

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17 pages, 38360 KiB

Open AccessArticle

Design and Characterization of Soft Fabric Omnidirectional Bending Actuators

by Kyungjoon Lee, Khulan Bayarsaikhan, Gabriel Aguilar, Jonathan Realmuto and Jun Sheng

Actuators 2024, 13(3), 112; https://doi.org/10.3390/act13030112 - 14 Mar 2024

Cited by 4 | Viewed by 3165

Abstract

Soft robots, inspired by biological adaptability, can excel where rigid robots may falter and offer flexibility and safety for complex, unpredictable environments. In this paper, we present the Omnidirectional Bending Actuator (OBA), a soft robotic actuation module which is fabricated from off-the-shelf materials [...] Read more.

Soft robots, inspired by biological adaptability, can excel where rigid robots may falter and offer flexibility and safety for complex, unpredictable environments. In this paper, we present the Omnidirectional Bending Actuator (OBA), a soft robotic actuation module which is fabricated from off-the-shelf materials with easy scalability and consists of three pneumatic chambers. Distinguished by its streamlined manufacturing process, the OBA is capable of bending in all directions with a high force-to-weight ratio, potentially addressing a notable research gap in knit fabric actuators with multi-degree-of-freedom capabilities. We will present the design and fabrication of the OBA, examine its motion and force capabilities, and demonstrate its capability for stiffness modulation and its ability to maintain set configurations under loads. The mass of the entire actuation module is 278 g, with a range of omnidirectional bending up to 90.80°, a maximum tolerable pressure of 862 kPa, and a bending payload (block force) of 10.99 N, resulting in a force-to-weight ratio of 39.53 N/kg. The OBA’s cost-effective and simple fabrication, compact and lightweight structure, and capability to withstand high pressures present it as an attractive actuation primitive for applications demanding efficient and versatile soft robotic solutions. Full article

(This article belongs to the Special Issue Soft Robotics: Actuation, Control, and Application)

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10 pages, 1278 KiB

Open AccessArticle

Electromechanical Properties of Silver-Plated Yarns and Their Relation to Yarn Construction Parameters

by Johannes Mersch, Hans Winger, Ercan Altinsoy and Chokri Cherif

Polymers 2023, 15(21), 4210; https://doi.org/10.3390/polym15214210 - 24 Oct 2023

Cited by 2 | Viewed by 2278

Abstract

For signal transmission and sensing in stretchable structures for human motion monitoring or proprioception of soft robots, textiles with electronically conductive yarns are a promising option. Many recent publications employ silver-plated yarns in knits, braids, wovens for strain or pressure sensing purposes as [...] Read more.

For signal transmission and sensing in stretchable structures for human motion monitoring or proprioception of soft robots, textiles with electronically conductive yarns are a promising option. Many recent publications employ silver-plated yarns in knits, braids, wovens for strain or pressure sensing purposes as well as heating fabrics or twisted string actuators. Silver-plated yarns are available in a wide range of base materials, yarn counts and twists. These structural properties significantly influence the electrical and electromechanical behavior of such yarns. However, until now little research has been carried out on the yarns themselves. To close this research gap, several variations of a single yarn type are electromechanically characterized. Additionally, tensile tests with synchronous resistance measurements are performed. From these measurements, sensor metrics are derived and calculated to compare the different variants quantitatively. Full article

(This article belongs to the Special Issue Conductive Polymers for Smart Textile Applications)

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19 pages, 10787 KiB

Open AccessArticle

A Smart, Textile-Driven, Soft Exosuit for Spinal Assistance

by Kefan Zhu, Phuoc Thien Phan, Bibhu Sharma, James Davies, Mai Thanh Thai, Trung Thien Hoang, Chi Cong Nguyen, Adrienne Ji, Emanuele Nicotra, Hung Manh La, Tat Thang Vo-Doan, Hoang-Phuong Phan, Nigel H. Lovell and Thanh Nho Do

Sensors 2023, 23(19), 8329; https://doi.org/10.3390/s23198329 - 9 Oct 2023

Cited by 6 | Viewed by 4084

Abstract

Work-related musculoskeletal disorders (WMSDs) are often caused by repetitive lifting, making them a significant concern in occupational health. Although wearable assist devices have become the norm for mitigating the risk of back pain, most spinal assist devices still possess a partially rigid structure [...] Read more.

Work-related musculoskeletal disorders (WMSDs) are often caused by repetitive lifting, making them a significant concern in occupational health. Although wearable assist devices have become the norm for mitigating the risk of back pain, most spinal assist devices still possess a partially rigid structure that impacts the user’s comfort and flexibility. This paper addresses this issue by presenting a smart textile-actuated spine assistance robotic exosuit (SARE), which can conform to the back seamlessly without impeding the user’s movement and is incredibly lightweight. To detect strain on the spine and to control the smart textile automatically, a soft knitting sensor that utilizes fluid pressure as a sensing element is used. Based on the soft knitting hydraulic sensor, the robotic exosuit can also feature the ability of monitoring and rectifying human posture. The SARE is validated experimentally with human subjects (N = 4). Through wearing the SARE in stoop lifting, the peak electromyography (EMG) signals of the lumbar erector spinae are reduced by 22.8% ± 12 for lifting 5 kg weights and 27.1% ± 14 in empty-handed conditions. Moreover, the integrated EMG decreased by 34.7% ± 11.8 for lifting 5 kg weights and 36% ± 13.3 in empty-handed conditions. In summary, the artificial muscle wearable device represents an anatomical solution to reduce the risk of muscle strain, metabolic energy cost and back pain associated with repetitive lifting tasks. Full article

(This article belongs to the Special Issue Assistive Robots for Healthcare and Human-Robot Interaction: Volume II)

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16 pages, 7758 KiB

Open AccessArticle

Shape Memory Alloys in Textile Platform: Smart Textile-Composite Actuator and Its Application to Soft Grippers

by Jin Shin, Ye-Ji Han, Ju-Hee Lee and Min-Woo Han

Sensors 2023, 23(3), 1518; https://doi.org/10.3390/s23031518 - 30 Jan 2023

Cited by 24 | Viewed by 5212

Abstract

In recent years, many researchers have aimed to construct robotic soft grippers that can handle fragile or unusually shaped objects without causing damage. This study proposes a smart textile-composite actuator and its application to a soft robotic gripper. An active fiber and an [...] Read more.

In recent years, many researchers have aimed to construct robotic soft grippers that can handle fragile or unusually shaped objects without causing damage. This study proposes a smart textile-composite actuator and its application to a soft robotic gripper. An active fiber and an inactive fiber are combined together using knitting techniques to manufacture a textile actuator. The active fiber is a shape memory alloy (SMA) that is wire-wrapped with conventional fibers, and the inactive fiber is a knitting yarn. A knitted textile structure is flexible, with an excellent structure retention ability and high compliance, which is suitable for developing soft grippers. A driving source of the actuator is the SMA wire, which deforms under heating due to the shape memory effect. Through experiments, the course-to-wale ratio, the number of bundling SMA wires, and the driving current value needed to achieve the maximum deformation of the actuator were investigated. Three actuators were stitched together to make up each finger of the gripper, and layer placement research was completed to find the fingers’ suitable bending angle for object grasping. Finally, the gripping performance was evaluated through a test of grasping various object shapes, which demonstrated that the gripper could successfully lift flat/spherical/uniquely shaped objects. Full article

(This article belongs to the Special Issue Challenges and Future Trends of Wearable Robotics)

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17 pages, 4505 KiB

Open AccessArticle

Effect of Segment Types on Characterization of Soft Sensing Textile Actuators for Soft Wearable Robots

by Ayse Feyza Yilmaz, Fidan Khalilbayli, Kadir Ozlem, Hend M. Elmoughni, Fatma Kalaoglu, Asli Tuncay Atalay, Gökhan Ince and Ozgur Atalay

Biomimetics 2022, 7(4), 249; https://doi.org/10.3390/biomimetics7040249 - 19 Dec 2022

Cited by 7 | Viewed by 3395

Abstract

The use of textiles in soft robotics is gaining popularity because of the advantages textiles offer over other materials in terms of weight, conformability, and ease of manufacture. The purpose of this research is to examine the stitching process used to construct fabric-based [...] Read more.

The use of textiles in soft robotics is gaining popularity because of the advantages textiles offer over other materials in terms of weight, conformability, and ease of manufacture. The purpose of this research is to examine the stitching process used to construct fabric-based pneumatic bending actuators as well as the effect of segment types on the actuators’ properties when used in soft robotic glove applications. To impart bending motion to actuators, two techniques have been used: asymmetry between weave and weft knit fabric layers and mechanical anisotropy between these two textiles. The impacts of various segment types on the actuators’ grip force and bending angle were investigated further. According to experiments, segmenting the actuator with a sewing technique increases the bending angle. It was discovered that actuators with high anisotropy differences in their fabric combinations have high gripping forces. Textile-based capacitive strain sensors are also added to selected segmented actuator types, which possess desirable properties such as increased grip force, increased bending angle, and reduced radial expansion. The sensors were used to demonstrate the controllability of a soft robotic glove using a closed-loop system. Finally, we demonstrated that actuators integrated into a soft wearable glove are capable of grasping a variety of items and performing various grasp types. Full article

(This article belongs to the Special Issue Biologically Inspired Robotics)

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20 pages, 7329 KiB

Open AccessEditor’s ChoiceArticle

Hinged Adaptive Fiber-Rubber Composites Driven by Shape Memory Alloys—Development and Simulation

by Felix Lohse, Achyuth Ram Annadata, Eric Häntzsche, Thomas Gereke, Wolfgang Trümper and Chokri Cherif

Materials 2022, 15(11), 3830; https://doi.org/10.3390/ma15113830 - 27 May 2022

Cited by 6 | Viewed by 2308

Abstract

Adaptive structures based on fiber-rubber composites with integrated Shape Memory Alloys are promising candidates for active deformation tasks in the fields of soft robotics and human-machine interactions. Solid-body hinges improve the deformation behavior of such composite structures. Textile technology enables the user to [...] Read more.

Adaptive structures based on fiber-rubber composites with integrated Shape Memory Alloys are promising candidates for active deformation tasks in the fields of soft robotics and human-machine interactions. Solid-body hinges improve the deformation behavior of such composite structures. Textile technology enables the user to develop reinforcement fabrics with tailored properties suited for hinged actuation mechanisms. In this work, flat knitting technology is used to create biaxially reinforced, multilayer knitted fabrics with hinge areas and integrated Shape Memory Alloy wires. The hinge areas are achieved by dividing the structures into sections and varying the configuration and number of reinforcement fibers from section to section. The fabrics are then infused with silicone, producing a fiber-rubber composite specimen. An existing simulation model is enhanced to account for the hinges present within the specimen. The active deformation behavior of the resulting structures is then tested experimentally, showing large deformations of the hinged specimens. Finally, the simulation results are compared to the experimental results, showing deformations deviating from the experiments due to the developmental stage of the specimens. Future work will benefit from the findings by improving the deformation behavior of the specimens and enabling further development for first applications. Full article

(This article belongs to the Section Smart Materials)

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9 pages, 2585 KiB

Open AccessProceeding Paper

Development of Smart Kneecap with Electrical Stimulation

by Jitheesh V R, Rashmi Thakur and Prabir Jana

Eng. Proc. 2022, 15(1), 3; https://doi.org/10.3390/engproc2022015003 - 9 Mar 2022

Cited by 1 | Viewed by 3121

Abstract

This research was conducted to develop a textile electrode-based TENS module, as an alternative to overcome the shortcomings of current conventional electrodes used in TENS enabled pain therapy products, such as kneecaps. The existing TENS devices were studied to carry out a comparative [...] Read more.

This research was conducted to develop a textile electrode-based TENS module, as an alternative to overcome the shortcomings of current conventional electrodes used in TENS enabled pain therapy products, such as kneecaps. The existing TENS devices were studied to carry out a comparative analysis of their features and shortcomings. Three sets of textile electrodes were developed using conductive yarn knitted structure, conductive yarn embroidered fabric, and coated conductive fabric. In addition, the smart kneecap was developed with the aim of providing an electrical stimulation to the knee using a TENS module. The TENS module was actuated using a switching circuit of MOSFET and textile electrodes for the smooth conduction of electric stimulation into the body. These electro stimulations have been proven to be helpful in relieving the pain in the knee, as well as in giving the knee, thigh, and leg a sense of relaxation. Testing was conducted and subjective feedback was collected for the developed prototype. Full article

(This article belongs to the Proceedings of The 3rd International Conference on the Challenges, Opportunities, Innovations and Applications in Electronic Textiles)

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23 pages, 7749 KiB

Open AccessEditor’s ChoiceArticle

Experimental and Numerical Analysis of the Deformation Behavior of Adaptive Fiber-Rubber Composites with Integrated Shape Memory Alloys

by Felix Lohse, Karl Kopelmann, Henriette Grellmann, Moniruddoza Ashir, Thomas Gereke, Eric Häntzsche, Cornelia Sennewald and Chokri Cherif

Materials 2022, 15(2), 582; https://doi.org/10.3390/ma15020582 - 13 Jan 2022

Cited by 19 | Viewed by 2911

Abstract

Fiber-reinforced rubber composites with integrated shape memory alloy (SMA) actuator wires present a promising approach for the creation of soft and highly elastic structures with adaptive functionalities for usage in aerospace, robotic, or biomedical applications. In this work, the flat-knitting technology is used [...] Read more.

Fiber-reinforced rubber composites with integrated shape memory alloy (SMA) actuator wires present a promising approach for the creation of soft and highly elastic structures with adaptive functionalities for usage in aerospace, robotic, or biomedical applications. In this work, the flat-knitting technology is used to develop glass-fiber-reinforced fabrics with tailored properties designed for active bending deformations. During the knitting process, the SMA wires are integrated into the textile and positioned with respect to their actuation task. Then, the fabrics are infiltrated with liquid silicone, thus creating actively deformable composites. For dimensioning such structures, a comprehensive understanding of the interactions of all components is required. Therefore, a simulation model is developed that captures the properties of the rubber matrix, fiber reinforcement, and the SMA actuators and that is capable of simulating the active bending deformations of the specimens. After model calibration with experimental four-point-bending data, the SMA-driven bending deformation is simulated. The model is validated with activation experiments of the actively deformable specimens. The simulation results show good agreement with the experimental tests, thus enabling further investigations into the deformation mechanisms of actively deformable fiber-reinforced rubbers. Full article

(This article belongs to the Special Issue Interactive Fiber Rubber Composites)

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11 pages, 6795 KiB

Open AccessArticle

Machine-Knitted Seamless Pneumatic Actuators for Soft Robotics: Design, Fabrication, and Characterization

by Hend M. Elmoughni, Ayse Feyza Yilmaz, Kadir Ozlem, Fidan Khalilbayli, Leonardo Cappello, Asli Tuncay Atalay, Gökhan Ince and Ozgur Atalay

Actuators 2021, 10(5), 94; https://doi.org/10.3390/act10050094 - 30 Apr 2021

Cited by 26 | Viewed by 9079

Abstract

Computerized machine knitting offers an attractive fabrication technology for incorporating wearable assistive devices into garments. In this work, we utilized, for the first time, whole-garment knitting techniques to manufacture a seamless fully knitted pneumatic bending actuator, which represents an advancement to existing cut-and-sew [...] Read more.

Computerized machine knitting offers an attractive fabrication technology for incorporating wearable assistive devices into garments. In this work, we utilized, for the first time, whole-garment knitting techniques to manufacture a seamless fully knitted pneumatic bending actuator, which represents an advancement to existing cut-and-sew manufacturing techniques. Various machine knitting parameters were investigated to create anisotropic actuator structures, which exhibited a range of bending and extension motions when pressurized with air. The functionality of the actuator was demonstrated through integration into an assistive glove for hand grip action. The achieved curvature range when pressurizing the actuators up to 150 kPa was sufficient to grasp objects down to 3 cm in diameter and up to 125 g in weight. This manufacturing technique is rapid and scalable, paving the way for mass-production of customizable soft robotics wearables. Full article

(This article belongs to the Special Issue Pneumatic Actuators for Robotics and Automation)

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15 pages, 5365 KiB

Open AccessArticle

Electroactive Textile Actuators for Breathability Control and Thermal Regulation Devices

by Chaoqun Xiang, Jianglong Guo, Rujie Sun, Andrew Hinitt, Tim Helps, Majid Taghavi and Jonathan Rossiter

Polymers 2019, 11(7), 1199; https://doi.org/10.3390/polym11071199 - 18 Jul 2019

Cited by 13 | Viewed by 6250

Abstract

Smart fabrics offer the potential for a new generation of soft robotics and wearable technologies through the fusion of smart materials, textiles and electrical circuitries. Conductive and stretchable textiles have inherent compliance and low resistance that are suitable for driving artificial muscle actuators [...] Read more.

Smart fabrics offer the potential for a new generation of soft robotics and wearable technologies through the fusion of smart materials, textiles and electrical circuitries. Conductive and stretchable textiles have inherent compliance and low resistance that are suitable for driving artificial muscle actuators and are potentially safer electrode materials for soft actuation technologies. We demonstrate how soft electroactive actuating structures can be designed and fabricated from conducting textiles. We first quantitatively analyse a range of stretchable conductive textiles for dielectric elastomer actuators (DEAs). We found that conductive-knit textiles are more suitable for unidirectional DEA applications due to the largest difference (150%) in principle strain axes, whereas isotropic textiles are more suited to bidirectional DEA applications due to the smallest (11.1%) principle strain difference. Finally, we demonstrate controllable breathability through a planar e-textile DEA-driven skin and show thermal regulation in a wearable prototype that exploits soft actuation and kirigami. Full article

(This article belongs to the Special Issue Innovative Functional Textiles)

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