![↑ Silicone Casting](https://images.squarespace-cdn.com/content/v1/55f0972be4b0388802802945/1441844231855-7JV9SZ7S43ZK3AJUWRRM/act3.png)
![↑ Flat Pneumatic Artificial Muscles](https://images.squarespace-cdn.com/content/v1/55f0972be4b0388802802945/1441844094622-4XCA2606OGH50IXFLWK9/act1.png)
![↑ Multi-cell Actuators](https://images.squarespace-cdn.com/content/v1/55f0972be4b0388802802945/1441844119669-2G7RLD84JHDS5KVF7RTF/act2.png)
![↑ Excerpt from Patent Application](https://images.squarespace-cdn.com/content/v1/55f0972be4b0388802802945/1441844612727-278CECAYGZFD5FY16Y2M/act4.png)
![↑ Silicone Casting](https://images.squarespace-cdn.com/content/v1/55f0972be4b0388802802945/1441844231855-7JV9SZ7S43ZK3AJUWRRM/act3.png)
By using rapid prototyping 3D printers, I was able to iterate and improve designs very quickly. Here you will see casts for strain gauges and a fixture for pre-tensioning the embedded kevlar threads.
![↑ Flat Pneumatic Artificial Muscles](https://images.squarespace-cdn.com/content/v1/55f0972be4b0388802802945/1441844094622-4XCA2606OGH50IXFLWK9/act1.png)
The low-profile pneumatic actuator pictured here is similar to a McKibben pneumatic artificial muscle, but with a zero-volume bladder when depressurized and a flat form factor. Hyperelastic strain gauge sensors have been integrated on interior and exterior surfaces of the actuator to fully define the force-displacement state of the actuator, and multi-chambered designs allow for a greater displacement at the same pressure. For this NSF-funded project, I designed the actuators, developed the processes for molding actuators, and designed test equipment for fully characterizing the capabilities of the actuators. More information can be found in our patent documentation.
![↑ Multi-cell Actuators](https://images.squarespace-cdn.com/content/v1/55f0972be4b0388802802945/1441844119669-2G7RLD84JHDS5KVF7RTF/act2.png)
The flexibility of my fabrication process allowed me to experiment with incorporating several actuators into a single degree of freedom.
![↑ Excerpt from Patent Application](https://images.squarespace-cdn.com/content/v1/55f0972be4b0388802802945/1441844612727-278CECAYGZFD5FY16Y2M/act4.png)
Among my contributions to this project was fully characterizing the force-displacement capacities of the actuators in every configuration.