A Caltech Library Service

AFREEs: Active Fiber Reinforced Elastomeric Enclosures

Yoshida, Kyle T. and Ren, Xinyi and Blumenschein, Laura H. and Okamura, Allison M. and Luo, Ming (2020) AFREEs: Active Fiber Reinforced Elastomeric Enclosures. In: 2020 3rd IEEE International Conference on Soft Robotics (RoboSoft). IEEE , Piscataway, NJ, pp. 305-311. ISBN 9781728165707.

Full text is not posted in this repository. Consult Related URLs below.

Use this Persistent URL to link to this item:


Soft continuum manipulators provide a safe alternative to traditional rigid manipulators, because their bodies can absorb and distribute contact forces. Soft manipulators have near infinite potential degrees of freedom, but a limited number of control inputs. This underactuation means soft continuum manipulators often lack either the controllability or the dexterity to achieve desired tasks. In this work, we present an extension of McKibben actuators, which have well-known models, that increases the controllable degrees of freedom using active reconfiguration of the constraining fibers. These Active Fiber Reinforced Elastomeric Enclosures (AFREEs) preform some combination of length change and twisting, depending on the fiber configuration. Experimental results shows that by changing the fiber angles within a range of -30 to 30 degrees and actuating the resulting configuration between 10.3 kPa and 24.1 kPa, we can achieve twists between ± 60 degrees and displacements between -2 and 4 mm. By additionally controlling the fiber lengths and pressure, we can modify the AFREE kinematics further, creating dynamic behaviors and trajectories of actuation. The presented actuator creates the possibility to reconFigure actuator kinematics to meet desired soft robot motions.

Item Type:Book Section
Related URLs:
URLURL TypeDescription
Additional Information:© 2020 IEEE.
Record Number:CaltechAUTHORS:20200624-155135427
Persistent URL:
Official Citation:K. T. Yoshida, X. Ren, L. H. Blumenschein, A. M. Okamura and M. Luo, "AFREEs: Active Fiber Reinforced Elastomeric Enclosures," 2020 3rd IEEE International Conference on Soft Robotics (RoboSoft), New Haven, CT, USA, 2020, pp. 305-311, doi: 10.1109/RoboSoft48309.2020.9115988
Usage Policy:No commercial reproduction, distribution, display or performance rights in this work are provided.
ID Code:104025
Deposited By: George Porter
Deposited On:25 Jun 2020 14:09
Last Modified:16 Nov 2021 18:27

Repository Staff Only: item control page