In the thesis, we mechanically tested 3D-printed pneumatic GRACE actuators. These soft actuators, inspired by biological muscles, are valuable due to their flexibility and efficiency. The research evaluated their performance in terms of elongation (or contraction) and force generated under different pressure levels, ultimately selecting and optimizing the most suitable actuator for use in orthotics. Thesis encompassed the preparation of test actuators fabricated using SLA 3D printing, a visual inspection to eliminate defective samples, and the adaptation of the testing setup for conducting measurements. Testing involved measuring elongation and force under precisely controlled conditions, utilizing a pressure sensor, a force gauge, and a camera for elongation measurement. The collected data was processed and analysed to identify the properties of each actuator. We selected the most suitable actuator and attempted to enhance it through design modifications. Thesis highlights the advantages of GRACE actuators, including their flexibility, potential for optimization across various applications, and ability to deliver consistent results. This work contributes to the development of adaptable technologies suitable for use in robotics, medicine, and other bio-inspired fields.
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