Effect of Segment Types on Characterization of Soft Sensing Textile Actuators for Soft Wearable Robots

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Yılmaz A., Khalilbayli F., Özlem K., Elmoughnı H. M. E. A., Kalaoğlu F., TUNÇAY ATALAY A., ...More

Biomimetics, vol.7, no.4, 2022 (SCI-Expanded) identifier identifier identifier

  • Publication Type: Article / Article
  • Volume: 7 Issue: 4
  • Publication Date: 2022
  • Doi Number: 10.3390/biomimetics7040249
  • Journal Name: Biomimetics
  • Journal Indexes: Science Citation Index Expanded (SCI-EXPANDED), Emerging Sources Citation Index (ESCI), Scopus, Directory of Open Access Journals
  • Keywords: soft robotic, soft actuator, sensing actuator, textile-based actuator, wearable robot
  • Istanbul Technical University Affiliated: Yes


The use of textiles in soft robotics is gaining popularity because of the advantages textiles offer over other materials in terms of weight, conformability, and ease of manufacture. The purpose of this research is to examine the stitching process used to construct fabric-based pneumatic bending actuators as well as the effect of segment types on the actuators’ properties when used in soft robotic glove applications. To impart bending motion to actuators, two techniques have been used: asymmetry between weave and weft knit fabric layers and mechanical anisotropy between these two textiles. The impacts of various segment types on the actuators’ grip force and bending angle were investigated further. According to experiments, segmenting the actuator with a sewing technique increases the bending angle. It was discovered that actuators with high anisotropy differences in their fabric combinations have high gripping forces. Textile-based capacitive strain sensors are also added to selected segmented actuator types, which possess desirable properties such as increased grip force, increased bending angle, and reduced radial expansion. The sensors were used to demonstrate the controllability of a soft robotic glove using a closed-loop system. Finally, we demonstrated that actuators integrated into a soft wearable glove are capable of grasping a variety of items and performing various grasp types.