Conceptual exploration of a gravity-assisted electrorheological fluid-based gripping methodology for assistive technology

作     者：Ivo Radice Jeroen H.M.Bergmann 

作者机构：Department of Engineering ScienceOld Road Campus Research BuildingInstitute of Biomedical EngineeringUniversity of OxfordHeadingtonOxfordUK 

出 版 物：《Bio-Design and Manufacturing》 (生物设计与制造（英文）)

年 卷 期：2019年第2卷第3期

页      面：145-152页

核心收录：

学科分类：0710[理学-生物学] 0831[工学-生物医学工程（可授工学、理学、医学学位）] 081803[工学-地质工程] 0817[工学-化学工程与技术] 08[工学] 0807[工学-动力工程及工程热物理] 0818[工学-地质资源与地质工程] 0805[工学-材料科学与工程（可授工学、理学学位）] 0802[工学-机械工程] 0836[工学-生物工程] 0811[工学-控制科学与工程] 

基　　金：Cleveland Williams & Maurice Keeble-Smith Engineering and Physical Sciences Research Council, EPSRC, (EP/R511742/1) 

主　　题：Smart materials Prosthetics Exoskeleton Grasping Manipulation Assistive technologies 

摘      要：Gripping devices help patients carry out everyday tasks and increase their ***,there seems to be a lack of bionic gripping technologies that can fully adapt to any possible shape,as the use of artificial fingers and predetermined grip settings limits the operating *** development of a more agile device,which is operated by a simple control paradigm,could greatly benefit *** electrorheological(ER)fluid system should be able to adapt to the shape of an object and then hold that *** aim of this study was to explore if a conceptual prototype of an ER system could hold a geometric shape when it is activated.A test rig was constructed with a moving part(set in different silicone oils)that could be displaced using a *** particles were dispersed in the silicone oils,and a field with a voltage of 4 kV mm?1 was generated to activate the *** results show that the developed system can support an increased force when activated and hold a simple geometric position without any noticeable *** outcome provides an initial proof of concept for a possible new(gravity-assisted)gripping approach using smart fluids,which could be developed with materials that are biocompatible and widely available.