====== Week 11: Soft Robotics ======

===== Phase 1: Pneumatic wrist brace =====

==== Preparation ====

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Sources:

  * [[https://softroboticstoolkit.com/|https://softroboticstoolkit.com/]]
  * [[https://softroboticstoolkit.com/resources-for-educators/pneuwrist-brace|https://softroboticstoolkit.com/resources-for-educators/pneuwrist-brace]]

Materials:

  * Elastic cord
  * Fabric scissors
  * Hand pump
  * Heat-weldable fabric
  * Iron
  * Parchment paper
  * Tubing
  * Cutter plotter

Software:

  * Rhinoceros

==== Cut of the pieces ====

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  * I opened the pdf file with Rhinoceros, to process the image and adapt it to my wrist:
      - **Mirror**  tool to have 2 images of the wrist band, the front and the back.
      - **Scale**  to adapt it to the measurements.
{{  :fabricademy2017:students:edgardelarubia:wrist_band_rhino1.jpg?nolink&400x218  |wrist_band_rhino1.jpg}}

  * Cut with the plotter
  * Cut with the scissors the parchment paper, to create between the two sheets of heat-weldable fabric the space to be inflated.

{{  :fabricademy2017:students:edgardelarubia:preparacion_banda.jpg?nolink&400x240  |preparacion_banda.jpg}}

==== Assembling the wrist band ====

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  * Align the 2 sheets of fabric with the paper inside and I used the iron:
      * 17 seconds
      * 165º

{{  :fabricademy2017:students:edgardelarubia:img_20171211_180620.jpg?nolink&450x600  |img_20171211_180620.jpg}}

**Tip: Maybe because the parameters are for fixing this type of vinyl to a fabric, the temperature was to high, and the pieces were damaged. I repeated all the process but I adjusted the temperature for 155º, and it was much better.**

{{:fabricademy2017:students:edgardelarubia:captura_1.jpg?nolink&300x333|captura_1.jpg}}{{:fabricademy2017:students:edgardelarubia:img_20171211_185810.jpg?nolink&300x400|img_20171211_185810.jpg}}

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==== Final settings and inflate ====

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Finally I put the cord to close the band and the cord-lock, and I fix the tube using a zip tie, as tight i could to avoid the escape of the inflated air.

{{:fabricademy2017:students:edgardelarubia:img_20171211_194327.jpg?nolink&300x400|img_20171211_194327.jpg}}{{:fabricademy2017:students:edgardelarubia:img_20171212_151009.jpg?nolink&600x450|img_20171212_151009.jpg}}

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