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      Slit tubes for semisoft pneumatic actuators

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      Embargo Lift Date: 2019-03-01
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      Author(s)
      Belding, L.
      Baytekin, Bilge
      Baytekin, Hasan Tarık
      Rothemund, P.
      Verma, M. S.
      Nemiroski, A.
      Sameoto, D.
      Grzybowski, B. A.
      Whitesides, G. M.
      Date
      2018
      Source Title
      Advanced Materials
      Print ISSN
      0935-9648
      Electronic ISSN
      1521-4095
      Publisher
      Wiley
      Volume
      30
      Issue
      9
      Pages
      1704446-10 - 1704446-1
      Language
      English
      Type
      Article
      Item Usage Stats
      168
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      243
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      Abstract
      This article describes a new principle for designing soft or ‘semisoft’ pneumatic actuators: SLiT (for SLit-in-Tube) actuators. Inflating an elastomeric balloon, when enclosed by an external shell (a material with higher Young's modulus) containing slits of different directions and lengths, produces a variety of motions, including bending, twisting, contraction, and elongation. The requisite pressure for actuation depends on the length of the slits, and this dependence allows sequential actuation by controlling the applied pressure. Different actuators can also be controlled using external “sliders” that act as reprogrammable “on-off” switches. A pneumatic arm and a walker constructed from SLiT actuators demonstrate their ease of fabrication and the range of motions they can achieve.
      Keywords
      External shells
      Pneumatic actuators
      Pneumatic artificial muscles
      Semisoft
      Sequential actuation
      Soft robotics
      Permalink
      http://hdl.handle.net/11693/49928
      Published Version (Please cite this version)
      https://doi.org/10.1002/adma.201704446
      Collections
      • Department of Chemistry 677
      • National Magnetic Resonance Research Center (UMRAM) 250
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