Twisted Elastic Actuators: Characterizing Artificial Muscles for Exoskeletons
Abstract: This research characterizes Twisted Elastic Actuators (TEAs) as a compliant alternative to conventional Twisted String Actuators (TSAs) for exoskeleton applications. By substituting non-elastic filaments with elastomeric materials, TEAs gain unique deformation modes that enhance their suitability as artificial muscles but complicate their force-transmission profiles. We present a physics-informed analytical model that extends traditional helix-based formulations by incorporating the radial-stress-dependent effects of inter-strand contact pressure. By integrating previously neglected material parameters such as Young’s modulus and Poisson’s ratio, our model bridges the gap between rigid geometric theory and the hyper-elastic reality of soft actuators. The results provide a robust framework for predicting TEA performance, offering the precise characterization necessary for the next generation of soft, bio-inspired wearable systems.
Advisor: Professor Cagdas Onal
Committee: Professor Karen Troy, Professor Loris Fichera
Zoom link: https://wpi.zoom.us/j/91337812237