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Design and Validation of a Supernumerary Soft Robotic Arm
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Resumo(s)
In recent years, the advancement of human augmentation technologies has highlighted the potential of supernumerary limbs for various applications, particularly in the medical, industrial, and research sectors. However, significant limitations have been observed in the currently used actuation systems, which are predominantly based on electric actuators. Although these actuators offer high precision, fast operation speeds, and ease of integration, they present relevant disadvantages, such as high weight, sensitivity to adverse environmental conditions, and susceptibility to overheating during continuous operations, factors that can compromise the effectiveness and safety of the user. The main objective of this work is to develop an alternative to electric actuators by exploring pneumatic solutions, which are then implemented in a robotic arm to evaluate their viability in terms of performance, considering both maximum reach and the precision of executed movements. The robotic arm used, part of Reachy, a humanoid open-source robot, underwent modifications to incorporate the new actuators, enabling movements with 2 degrees of freedom (DoF). The validation of the robotic arm was structured in two complementary stages. In the first stage, the goal was to determine the maximum movement range with 2 DoF, evaluate actuator precision at different pressure levels, and measure the system’s response time after command issuance. In the second stage, grasping and transporting tasks were performed with objects of varying masses to analyze the arm’s dynamic behavior under diverse operational conditions. In conclusion, the results show that the arm has a lower-than-expected range of motion and an insufficient elastic return. The precision test showed some perfect values, but overall, it exhibited low accuracy. The response time is slow but consistent. Failures occurred in object manipulation tasks, mainly due to the actuator mesh detaching from the hand, so it is something we need to improve.
Descrição
Tese de mestrado, Engenharia Biomédica e Biofísica, 2025, Universidade de Lisboa, Faculdade de Ciências
Palavras-chave
Supernumerary Robotic Arm Soft Robotics McKibben Actuato Pulley System Flex Joint