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All Journal Kinetik: Game Technology, Information System, Computer Network, Computing, Electronics, and Control Jurnal Inotera
Ritonga, Syahirul Alim
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Computer Science & IT Control & Systems Engineering Electrical & Electronics Engineering Energy Engineering Industrial & Manufacturing Engineering Materials Science & Nanotechnology Mechanical Engineering

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Journal : Jurnal Inotera

 1 
Comparative Analysis of Soft Pneumatic Actuator Designs for Effective Human Finger Movement: A Study on Continuous and Non-Continuous Chamber Configurations Ritonga, Syahirul Alim; Herianto
Jurnal Inotera Vol. 8 No. 2 (2023): July - December 2023
Publisher : LPPM Politeknik Aceh Selatan

Show Abstract | Download Original | Original Source | Check in Google Scholar | DOI: 10.31572/inotera.Vol8.Iss2.2023.ID243

Abstract

Soft actuators show immense potential in various fields, such as wearable medical devices and the rehabilitation of stroke patients. This study aims to design and fabricate a soft pneumatic actuator (SPA) that effectively mimics human finger movements, with specific focus on post-stroke rehabilitation. Two SPA designs, referred to as M1 and M2, were developed and compared. M1 featured segmented chambers to mimic finger joints, while M2 had continuous chambers. The performance of the SPAs was evaluated based on curvature, generated force, and similarity to natural finger movement. Results showed that M1 exhibited superior curvature and achieved greater bending angles compared to M2 at the same pressure levels. This makes M1 well-suited for applications requiring high bending angles such as gripping. Additionally, M2 demonstrated the ability to mimic specific angles associated with picking-like movements. The findings highlight the potential for further research to explore the customization of SPAs for specialized tasks by modifying the number of sections and chambers. In terms of force, M2 generated slightly higher forces than M1, although the difference was not statistically significant. Overall, it is expected that this research contributes to the development of soft actuators and wearable medical devices, particularly in the field of post-stroke rehabilitation.
Comparative Analysis of Custom-Designed Soft Pneumatic Actuators for Human Thumb Movement in Post-Stroke Rehabilitation Ritonga, Syahirul Alim; Herianto
Jurnal Inotera Vol. 8 No. 2 (2023): July - December 2023
Publisher : LPPM Politeknik Aceh Selatan

Show Abstract | Download Original | Original Source | Check in Google Scholar | DOI: 10.31572/inotera.Vol8.Iss2.2023.ID246

Abstract

One of the most potential applications of soft actuator is as wearable medical devices for post-stroke rehabilitation as a field that requires high levels of safety and adaptability. Incorporating SPAs into such devices can provide a safer and more secure solution, ensuring controlled movements that do not pose a risk to patients. However, there is a research gap regarding the design considerations for soft actuators specifically targeting the human thumb, which exhibits distinct motion patterns compared to the other fingers. This paper addresses this gap by developing and evaluating custom-designed SPAs for the movement of the human thumb, with a focus on post-stroke rehabilitation. Three SPA models (M1, M2, and M3) were proposed, and their performance in replicating the twisting motion of the thumb was assessed. The SPAs were fabricated using 3D printing, and image processing software was utilized for measurement and analysis. The results showed that the M3 model, with two sections of chambers in different axes, exhibited the best performance in generating the desired twisting angle. Integration of the M3 model with four finger-shaped SPAs enabled successful grasping and picking-like movements. This research contributes to the advancement of soft actuators in wearable medical devices, particularly in post-stroke rehabilitation, and holds promise for enhancing patient recovery and quality of life.
Design and Development of a Low-Cost Programmable Air Regulator for Soft Pneumatic Actuators Ritonga, Syahirul Alim; Sarah Iftin Atsani; Mohammad Ardyansah; Raditya Fadhil Arva; Herianto; Adrian Axel Yohannes
Jurnal Inotera Vol. 10 No. 1 (2025): January-June 2025
Publisher : LPPM Politeknik Aceh Selatan

Show Abstract | Download Original | Original Source | Check in Google Scholar | DOI: 10.31572/inotera.Vol10.Iss1.2025.ID488

Abstract

Soft Pneumatic Actuators (SPAs) are widely utilized due to their affordability, simplicity, and ability to produce diverse movements such as bending and twisting by regulating air pressure. However, precise air pressure control remains a significant challenge in achieving desired actuator motions and maintaining performance consistency. While commercial programmable air regulators exist, their high cost often limits accessibility for budget-conscious research and educational institutions. This study addresses this challenge by designing and developing a low-cost programmable air regulator tailored for SPAs. Utilizing widely available and inexpensive components, the system aims to provide precise and reliable pressure control, democratizing SPA technology for researchers, small industries, and educational institutions. The regulator employs a stepper motor with a 1.8-degree step resolution and a 1:4 gear ratio, offering fine granularity in pressure adjustments. Carefully selected speed (1000 steps/s) and acceleration (500 steps/s) parameters ensure consistent operation under repetitive use. The program code of Arduino UNO microcontroller developed in this study can be readily adopted by researchers and practitioners. The regulator consistently achieves desired pressures through precise control of motor revolutions, proving to be a viable, cost-effective alternative to expensive commercial options.
Co-Authors Adrian Axel Yohannes Arifianto, Rokhmat Bahiuddin, Irfan Hakim, Sinta Uri El Herianto Mohammad Ardyansah Raditya Fadhil Arva Sarah Iftin Atsani