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      저자 : Debadrata Sarkar (검색결과 2 건)
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      • Ring Reinforced Silicone based Steering Head for Endoscopy like Applications: FEM simulation, development and force characterization

        Debadrata Sarkar,Sagnik Chakraborty,Aman Arora,Soumen Sen 제어로봇시스템학회 2021 제어로봇시스템학회 국제학술대회 논문집 Vol.2021 No.10

        Physically interactive applications like tissue sampling have become essential in present day minimally invasive endoscopy/colonoscopy applications. This calls for specialized steering heads with force exertion ability, still maintaining simplified actuation mechanisms having inherent softness and steerability. This article presents development of soft hyperelastic material (silicone) based pneumatically actuated steering head with improved performance achieved through O-ring reinforcements. The design attains omnidirectional bending operations as well as extension capability enabling needle insertion by the steering head. The ring reinforcement not only contains the bulging effect but also enhances extension ability and range of bending. Additionally, it improves stiffness, structural stability and force exertion capability. The presented work implements two layer design principle - the inner actuator is made from silicone of harder shore hardness followed by a thin outer layer of softer silicone, embedding the O-rings in between. The steering head has been designed iteratively through in depth Finite Element modeling and analyses after obtaining material models of silicones experimentally. The actuator has undergone detailed characterization through simulation for its workspace and blocked-tip force capabilities at various configurations. The characteristics have been experimentally validated on the developed prototype.

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        Low-pressure pneumatic muscles: development, phenomenological modeling, and evaluation in assistive applications through sEMG analysis

        Aman Arora,Debadrata Sarkar,Amit Kumar,Soumen Sen,Shibendu Shekhar Roy 대한기계학회 2022 JOURNAL OF MECHANICAL SCIENCE AND TECHNOLOGY Vol.36 No.9

        Compliant actuators have received much attention from researchers over the last two decades. Specifically, pneumatic artificial muscles (PAMs) have been used in several human-in-loop assistive and rehabilitative devices due to their inherent behavior resembling biological muscles. We presented a lucid customizable fabrication process to develop lowpressure actuated PAMs, named pneumatic silicone tube artificial muscles (pSTAMs), and to cater activity-specific actuator requirements. Two constructions of pSTAMs with varying lengths were rigorously experimented at different pressure-load conditions for their isobaric static and stiffness characterizations. Estimation of bandwidth and use of empirical correction factors in the conventional analytical models for quasi-static characterization of pSTAMs were demonstrated. Lumped parameter-based phenomenological model was employed to closely model their dynamic characteristics. A detailed integrated electromyography analysis with surface electromyography signals from the targeted muscle groups was performed to determine the efficacy of using pSTAMs in two activities.

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