Development of 3D Printing Soft Pneumatic Actuators for Rehabilitation

The development of new robotic devices for rehabilitation is an important research field to help overcome disabilities, injuries, and diseases that can affect the functioning of muscles. Thus, improving these technologies is essential to bring more comfort, adaptability, and return of motor functions to a large number of patients. One aspect that is intrinsically related to the success of such devices is the development of soft actuators that can mimic biomechanical movements. In order to contribute to this field, we built a 3D (three-dimensional)-printed soft-robotics actuator based on previous studies. This model uses a pneumatic configuration that inflates with air and moves the limb it is attached to. In this work, we addressed the many downsides related to 3D printing manufacture and brought creative solutions to overcome them, such as new ways to avoid air leakage. The force exerted by the actuators was evaluated by using a scheme composed of a 5 kg load cell, an Arduino, and an operational amplifier module. The data obtained was organized in a Microsoft Excel spreadsheet and graphically analyzed, so that it was possible to determine its quality and effectiveness. Three tests were performed, applying 5 different pressures to the model so that it was possible to analyze how the actuator works when deformed. Through the data obtained, it was observed that due to modeling adaptations and printing parameters, the actuators developed were able to perform under the pressures cited even though the force was still below that demonstrated in other works. Because of this, the challenge is to create a design capable of bringing more efficient results and a better adaptation and comfort to its users.