Computational Modeling and Finite Element Analysis of Bio-Inspired Soft Pneumatic Actuators for Robotic Straightening
Year: 2025
Type: article
Abstract: This study presents the design and analysis of a bioinspired soft pneumatic actuator (BSPA), using the finite element method (FEM), to simulate the opening and closing movements of the human hand. The primary objective was to explore its potential application in assisting stroke survivors during rehabilitation, specifically targeting the treatment of spastic-clenched fist deformities. Drawing inspiration from the biomechanical motion and anatomical structure of the human hand, the actuator was engineered to actively extend while passively flexing, mimicking natural hand movements. Key design parameters, including actuator width (16 mm), wall thickness (2 mm), actuation angles, and chamber dimensions, were fine-tuned through iterative simulation to optimize the actuator’s mechanical response. The design process was conducted using SolidWorks, with subsequent performance evaluation and simulation conducted in Abaqus CAE. Finite element analysis allowed for a detailed examination of the actuator's behavior under different loading conditions, ensuring accurate predictions of its functionality. Simulation results indicated that the BSPA could extend to a 90° angle at a pressure of 110 kPa, demonstrating the potential to mimic full hand extension. Additionally, block force tests showed that the actuator generated a total force reaction of 3N at 80 kPa, a level of force sufficient to fully open the hand when integrated into a soft robotic glove. This force output was carefully evaluated to ensure it pro-vided sufficient assistance for stroke survivors experiencing muscle spasticity, without compromising safety or comfort. These findings provide critical insights into the development of soft pneumatic actuators (SPAs) for medical and rehabilitative use, particularly for assisting patients with hand mobility impairments. The study highlights the effectiveness of bioinspired designs in creating soft actuators that can reproduce complex biomechanical movements. The results pave the way for further refinement and application of BSPAs in soft robotic gloves for rehabilitation, offering a promising solution for improving the quality of life for stroke survivors by enhancing hand functionality and motor recovery.
DOI: 10.14419/gpd5y981
Language: English
Subfield: Biomedical Engineering
Field: Engineering
Domain: Physical Sciences
Open Access status: diamond
OpenAlex ID: W4414094114