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dc.contributor.authorRaghavendra Kulkarni, Suhasen_US
dc.contributor.authorNoronha, Bernardoen_US
dc.contributor.authorCampolo, Domenicoen_US
dc.contributor.authorAccoto, Dinoen_US
dc.identifier.citationRaghavendra Kulkarni, S., Noronha, B., Campolo, D. & Accoto, D. (2021). Modelling and optimisation of a mechanism-based metamaterial for a wrist flexion-extension assistive device. 2021 IEEE International Conference on Robotics and Automation, 7020-7026.
dc.description.abstractIn this paper we present a methodology for optimising the design of a metamaterial structure with one degree of freedom that is able to simultaneously bend and stretch. The structure is intended for assisting flexion-extension of the wrist joint. The metamaterial is comprised of serially connected, in- dividually designed cells. The design parameters can be chosen to optimally fit a desired planar curve such as the curvature of the skin on a plane normal to the flexion/extension axis of the wrist joint. A tool for the optimised design is described and the experimental validation of the output is conducted, to show the ability of the mechanism to conform to a 2D curve, also exhibiting a change in length, which is desirable for reducing sliding and shear on the skin. The design tool allows the generation of metamaterials optimised for a multitude of other applications where actuated mechanisms must be worn by a user for rehabilitation or assistance purposes.en_US
dc.description.sponsorshipAgency for Science, Technology and Research (A*STAR)en_US
dc.description.sponsorshipNanyang Technological Universityen_US
dc.relationSERC 1922500046en_US
dc.relationNTU SUG granten_US
dc.rights© 2021 IEEE. Personal use of this material is permitted. Permission from IEEE must be obtained for all other uses, in any current or future media, including reprinting/republishing this material for advertising or promotional purposes, creating new collective works, for resale or redistribution to servers or lists, or reuse of any copyrighted component of this work in other works. The published version is available at:
dc.subjectEngineering::Mechanical engineering::Robotsen_US
dc.titleModelling and optimisation of a mechanism-based metamaterial for a wrist flexion-extension assistive deviceen_US
dc.typeConference Paperen
dc.contributor.schoolSchool of Mechanical and Aerospace Engineeringen_US
dc.contributor.conference2021 IEEE International Conference on Robotics and Automationen_US
dc.contributor.researchRobotics Research Centreen_US
dc.description.versionAccepted versionen_US
dc.subject.keywordsWearable Roboticsen_US
dc.subject.keywordsGenerative Designen_US
dc.citation.conferencelocationXi'an, Chinaen_US
dc.description.acknowledgementThis research was partially supported by the Singapore Agency for Science, Technology and Research (A*STAR) under the project ”Intelligent Human-Robot interface for upper limb wearable robots” (Award Number SERC 1922500046) and by NTU SUG grant - ”Building blocks for next generation soft robots”.en_US
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