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Syahirul Alim Ritonga
Universitas Gadjah Mada
Computer Science & IT Engineering Industrial & Manufacturing Engineering Materials Science & Nanotechnology Mechanical Engineering

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Comparative Analysis of Soft Pneumatic Actuator Designs for Effective Human Finger Movement: A Study on Continuous and Non-Continuous Chamber Configurations Syahirul Alim Ritonga; Herianto
Jurnal Inotera Vol. 8 No. 2 (2023): July - December 2023
Publisher : LPPM Politeknik Aceh Selatan

Show Abstract | Download Original | Original Source | Check in Google Scholar | DOI: 10.31572/inotera.Vol8.Iss2.2023.ID243

Abstract

Soft actuators show immense potential in various fields, such as wearable medical devices and the rehabilitation of stroke patients. This study aims to design and fabricate a soft pneumatic actuator (SPA) that effectively mimics human finger movements, with specific focus on post-stroke rehabilitation. Two SPA designs, referred to as M1 and M2, were developed and compared. M1 featured segmented chambers to mimic finger joints, while M2 had continuous chambers. The performance of the SPAs was evaluated based on curvature, generated force, and similarity to natural finger movement. Results showed that M1 exhibited superior curvature and achieved greater bending angles compared to M2 at the same pressure levels. This makes M1 well-suited for applications requiring high bending angles such as gripping. Additionally, M2 demonstrated the ability to mimic specific angles associated with picking-like movements. The findings highlight the potential for further research to explore the customization of SPAs for specialized tasks by modifying the number of sections and chambers. In terms of force, M2 generated slightly higher forces than M1, although the difference was not statistically significant. Overall, it is expected that this research contributes to the development of soft actuators and wearable medical devices, particularly in the field of post-stroke rehabilitation.
Comparative Analysis of Custom-Designed Soft Pneumatic Actuators for Human Thumb Movement in Post-Stroke Rehabilitation Syahirul Alim Ritonga; Herianto
Jurnal Inotera Vol. 8 No. 2 (2023): July - December 2023
Publisher : LPPM Politeknik Aceh Selatan

Show Abstract | Download Original | Original Source | Check in Google Scholar | DOI: 10.31572/inotera.Vol8.Iss2.2023.ID246

Abstract

One of the most potential applications of soft actuator is as wearable medical devices for post-stroke rehabilitation as a field that requires high levels of safety and adaptability. Incorporating SPAs into such devices can provide a safer and more secure solution, ensuring controlled movements that do not pose a risk to patients. However, there is a research gap regarding the design considerations for soft actuators specifically targeting the human thumb, which exhibits distinct motion patterns compared to the other fingers. This paper addresses this gap by developing and evaluating custom-designed SPAs for the movement of the human thumb, with a focus on post-stroke rehabilitation. Three SPA models (M1, M2, and M3) were proposed, and their performance in replicating the twisting motion of the thumb was assessed. The SPAs were fabricated using 3D printing, and image processing software was utilized for measurement and analysis. The results showed that the M3 model, with two sections of chambers in different axes, exhibited the best performance in generating the desired twisting angle. Integration of the M3 model with four finger-shaped SPAs enabled successful grasping and picking-like movements. This research contributes to the advancement of soft actuators in wearable medical devices, particularly in post-stroke rehabilitation, and holds promise for enhancing patient recovery and quality of life.
Analysis and Comparison of 3D Printed Soft Pneumatic Actuator Configurations for Swaying Lateral Motion of Planar Objects Syahirul Alim Ritonga; Ifran N. Sah Putra Sidauruk; Herianto; Adriyan Christofer Sitanggang
Jurnal Inotera Vol. 9 No. 1 (2024): January-June 2024
Publisher : LPPM Politeknik Aceh Selatan

Show Abstract | Download Original | Original Source | Check in Google Scholar | DOI: 10.31572/inotera.Vol9.Iss1.2024.ID297

Abstract

Soft pneumatic actuators (SPAs) offer unique possibilities in robotics and automation due to their compliance and versatility. Unlike conventional actuators that can move either revolute or prismatic, SPAs can produce complex motions, especially when configured in combinations. This paper systematically investigated the performance of four distinct SPA configurations (Types 1-4) concerning the task of moving a planar square object and swaying it laterally to the right and left. These configurations are analyzed for their ability to achieve desired movements and orientations. Type 4, involving two SPAs, emerges as the most effective configuration, successfully navigating the challenges posed by the desired task. In contrast, Type 2, consisting of four SPAs, encounters difficulties in executing the task attributed to increased inertia, which was similar as type 3. Types 1, while not precisely meeting the primary task, reveal distinctive movements - left-right motion without orientation change. This study contributes valuable insights into the complex dynamics of SPAs, offering considerations for optimal design and performance. The outcomes could be developed in the future in soft actuator applications, especially those involving configurations based on specific needs.
Co-Authors Adriyan Christofer Sitanggang Herianto Ifran N. Sah Putra Sidauruk