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Title: Modelling and optimisation of a mechanism-based metamaterial for a wrist flexion-extension assistive device
Authors: Raghavendra Kulkarni, Suhas
Noronha, Bernardo
Campolo, Domenico
Accoto, Dino
Keywords: Engineering::Mechanical engineering::Robots
Issue Date: 2021
Source: Raghavendra 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.
Project: SERC 1922500046 
NTU SUG grant 
Abstract: In 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.
ISBN: 978-1-7281-9077-8
DOI: 10.1109/ICRA48506.2021.9562099
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:
Fulltext Permission: open
Fulltext Availability: With Fulltext
Appears in Collections:MAE Conference Papers

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