New Closed-Form Kinematic Model for Fiber-Reinforced Elastomeric Enclosures (FREEs)

Fiber-Reinforced Elastomeric Enclosures or FREEs are a class of cylindrical soft pneumatic actuators that can rotate as they contract or extend. Previous descriptions of these actuators were unwieldy and required complex iterative evaluations to predict the kinematic behavior. The model I developed dramatically simplifies the description of the actuators into a closed-form kinematic model with three design parameters and one state.

Related Publications

  • Felt, W. and Remy, C.D., 2018, “A closed-form kinematic model for Fiber Reinforced Elastomeric Enclosures”, Journal of Mechanisms and Robotics  [URL]
  • Felt, W., Lu, S., Remy, C.D., 2018, “Modeling and design of “Smart Braid” inductance sensors for fiber-reinforced elastomeric enclosures”, IEEE Sensors Journal, [URL]
  • Felt, W., 2017,”Sensing Methods for Soft Robotics,”, PhD Thesis, [URL]

Leave a Reply

Fill in your details below or click an icon to log in: Logo

You are commenting using your account. Log Out /  Change )

Twitter picture

You are commenting using your Twitter account. Log Out /  Change )

Facebook photo

You are commenting using your Facebook account. Log Out /  Change )

Connecting to %s