Abstract
We present the design, manufacturing, and characterization of a soft textile-based clutch (TBC) that uses vacuum stimulation to switch between locking and unlocking its linear displacement. The vacuum locks the relative sliding motion between two elaborated textile webbings with an elastic silicone rubber bag. Various fabrication techniques, such as silicone casting on textiles and melt embossing for direct fabrication of miniature patterns on textile and sewing, were used to develop three groups of TBC samples based on friction and interlocking principles. Their performance was compared in a blocking configuration. The clutch with an interlocking mechanism presented the highest withstanding force (150 N) compared to that (54 N) recorded for the friction-based clutch. The simple and compact structure of the proposed clutch, together with the intrinsic adaptability of fabric with other clothing and soft materials, make it an appropriate solution for applications in soft wearable robotics and generally as a locking and variable stiffness solution for soft robotic applications.
Highlights
Clutches are locking devices that are widely used in robotic systems
The soft textile-based clutch (TBC) presented in this work is a bilayered elastic belt whose elongation can be blocked by applying negative pressure
We evaluated the TBC speeds with the same compact and portable control unit, considering that one of the main applications of the clutch would be in soft exosuits where compactness, low weight, and wearability are required
Summary
Clutches are locking devices that are widely used in robotic systems. They switch between enabling and preventing the relative motion of two parts, above all for energy management, reconfiguration, and safety reasons. In addition to the conventional use of clutches for engaging and disengaging the driven components from the driving source, they are used to lock and unlock robot motions and facilitate reconfiguration [1]. In modular and reconfigurable robots, the use of clutches reduces the number of actuators and results in lighter weight modules [2,3]. Using clutches as an essential component for decoupling from actuators and impedance control enables robots with rigid arms to achieve softer and safer interactions with the environment [5]
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