2026-09-21T20:06:48Z https://www.ideals.illinois.edu/oai-pmh

oai:www.ideals.illinois.edu:2142/98313 2023-07-11 col_2142_14787 col_2142_5131 com_2142_9630 com_2142_234 com_2142_5130

Krishnan, Girish Zhang, Xiaotian 2017-09-29T17:52:34Z 2017-09-29T17:52:34Z 2019-09-30T09:15:29Z 2017-07-21 2017-08 This thesis presents the design and analysis of two novel fabric-like architectures of soft pneumatic actuators known as Fiber Reinforced Elastomeric Enclosures (FREEs) and studies the implication of wearing them as sleeves around the elbow joint. The first architecture is a helical arrangement of FREEs, which is shown to directionally modulate its stiffness. The second architecture is a nested arrangement of FREEs, which is shown to provide 70% more actuation stroke than a single actuator. The thesis presents an analytical framework, first to accurately capture the behavior of a contracting FREE actuator, and then the model stiffness modulation and stroke amplification functionalities of the two architectures. These models are verified with both benchtop experiments and preliminary human testing. The thesis presents design guidelines to configure these architectures for any functional and size requirements. Submission published under a 24 month embargo labeled 'Closed Access', the embargo will last until 2019-08-01 The student, Xiaotian Zhang, accepted the attached license on 2017-07-20 at 17:41. The student, Xiaotian Zhang, submitted this Thesis for approval on 2017-07-20 at 17:48. This Thesis was approved for publication on 2017-07-21 at 14:03. DSpace SAF Submission Ingestion Package generated from Vireo submission #11566 on 2017-09-29 at 11:20:09 Made available in DSpace on 2017-09-29T17:52:34Z (GMT). No. of bitstreams: 2 ZHANG-THESIS-2017.pdf: 27675138 bytes, checksum: 3da25ee420789b269911f8b9d554e25a (MD5) LICENSE.txt: 4211 bytes, checksum: e0061a15e32c7b0c8fd8c0d355e2a6f5 (MD5) Previous issue date: 2017-07-21 Embargo set by: Colleen Fallaw for item 103521 Lift date: 2019-09-29T17:52:45Z Reason: Author requested closed access (OA after 2yrs) in Vireo ETD system Limited Restriction Lifted for Item 103521 on 2019-09-30T09:15:29Z. application/pdf http://hdl.handle.net/2142/98313 en Copyright 2017 Xiaotian Zhang Soft robotics Assistive device Architectures of soft pneumatic actuators for wearable human assistive applications text text Mechanical Sci & Engineering Mechanical Engineering University of Illinois at Urbana-Champaign Thesis M.S.