University of Illinois Urbana-Champaign

Design and analysis of fiber reinforced elastomeric enclosures with application in upper arm orthosis

Singh, Gaurav

Content Files
SINGH-THESIS-2016.pdf

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https://hdl.handle.net/2142/95617

Description

Title
Design and analysis of fiber reinforced elastomeric enclosures with application in upper arm orthosis
Author(s)
Singh, Gaurav
Issue Date
2016-12-07
Director of Research (if dissertation) or Advisor (if thesis)
Krishnan, Girish
Department of Study
Industrial&Enterprise Sys Eng
Discipline
Systems & Entrepreneurial Engr
Degree Granting Institution
University of Illinois at Urbana-Champaign
Degree Name
M.S.
Degree Level
Thesis
Date of Ingest
2017-03-01T17:02:06Z
Keyword(s)
  • Soft Robotics
  • Soft Actuator
  • Bio-inspired
  • Artificial Muscle
  • Calculus of Variation
  • Actuator
  • Fiber reinforced
  • Orthosis
  • Lofstrand Crutch
Abstract
Fiber Reinforced Elastomeric Enclosures (FREEs) are soft pneumatic actuators that deform in a predetermined fashion upon inflation. They are constructed using a hollow elastomeric cylinder reinforced by two families of helical fibers. This thesis analyzes the deformation behavior of FREEs by formulating a simple calculus of variations problem that involves constrained maximization of the enclosed volume. The model accurately captures the deformed shape (kinematics) for FREEs with any general fiber angle orientation, and its relation with actuation pressure, material properties and applied load (kinetostatics). The accuracy of the model is verified by benchmarking with existing models for a popular McKibben Pneumatic Artificial muscle (PAM) actuator with two helically wrapped families of fibers having equal and opposite orientations. For FREEs with any general fiber orientations and other novel designs with no prior literature, the model is validated experimentally. This model is deemed to be useful in the design synthesis of fiber reinforced elastomeric actuators for any desired motion and force requirement. FREEs are soft, compliant, and have a high power to weight ratio, which makes them suitable for orthotic devices for upper extremities. The second part of the thesis considers the design and fabrication of a soft pneumatic sleeve for arm orthosis that uses a contracting FREE is shown. The sleeve is designed to reduce wrist loads in patients that use crutches for ambulation, thereby reducing the risk of joint injury. It forms an alternate load path between the crutch and the forearm, circumventing the wrist. The constricting force generated by the sleeve on the arm is analyzed by a string model and validated with experiments.
Graduation Semester
2016-12
Type of Resource
text
Permalink
http://hdl.handle.net/2142/95617
Copyright and License Information
Copyright 2016 Gaurav Singh

Owning Collections

Graduate Dissertations and Theses at Illinois PRIMARY
Graduate Theses and Dissertations at Illinois
Dissertations and Theses - Industrial and Enterprise Systems Engineering