开发可贴合肢体的柔性套筒执行器，提升助行设备的舒适性与力传递效率。
Development and testing of novel soft sleeve actuators
- 采用柔性材料和定制3D打印技术制造可密封的软套筒结构。
- 在低气压下实现线性、弯曲和扭转多轴运动，力传递更高效。
- 适合老年或运动神经损伤患者使用，助力可穿戴助动设备小型化。
老龄化人口和神经系统及骨骼肌肉疾病患病率上升，推动对高效、舒适且解剖兼容的可穿戴移动辅助设备的需求。现有系统多采用刚性机构和笨重接口，阻碍力的传递并降低可穿戴性。本研究提出一种柔性套筒驱动架构，能贴合肢体并高效传递力与力矩。开发了三种柔性套筒执行器，分别产生线性、弯曲和扭转运动，并设计了一种集成三者运动的全向型装置。执行器通过定制熔融沉积工艺（fused filament fabrication）以热塑性弹性体制成，实现气密且柔性的结构，解决了传统方法中的泄漏问题。搭建专用实验平台，量化在低气压下的位移、角度、扭转等运动学输出，以及力和扭矩等动力学输出。参数研究分析几何特征与材料属性对性能的影响。结果表明，该系统具备可重复的多轴运动能力，显著提升力向肢体的传递效率，减少复杂固定硬件需求。研究建立了一个统一且可制造的柔性套筒驱动框架，为紧凑、用户为中心的辅助技术提供更高运动学与动力学性能支持。
原文摘要 · Abstract (English)
Aging populations and the rising prevalence of neurological and musculoskeletal disorders increase the demand for wearable mobility assistive devices that are effective, comfortable, and anatomically compatible. Many existing systems use rigid mechanisms and bulky interfaces that impede force transmission and reduce wearability. This study introduces a soft sleeve actuation architecture that conforms to the limb while transmitting forces and moments efficiently. We develop three soft sleeve actuators that produce linear, bending, and twisting motion, and an omnidirectional design that combines these motions in one device. Actuators are fabricated from thermoplastic elastomers using a customized fused filament fabrication process that produces airtight and compliant structures and resolves leakage observed with conventional methods. A dedicated experimental platform quantifies kinematic outputs such as displacement, angle, and twist, and kinetic outputs such as force and torque under low pneumatic pressures. A parametric study varies geometric features and material properties to determine their influence on performance. Results show reproducible multi axis motion with improved transfer of force to the limb and reduced need for complex attachment hardware. The work establishes a unified and manufacturable framework for soft sleeve actuation that enables compact and user centered assistive technologies with enhanced kinematic and kinetic performance.
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