arXiv subjects

Mohammed Abboodi

Publications and source records attributed to Mohammed Abboodi.

5 recordsLinked to original sources

arXiv2026

Manufacturing Complex Airtight Soft Pneumatic Actuators for Soft Robotics: Process Evaluation and Optimization

Manufacturing complex soft pneumatic actuators remains challenging because geometric fidelity, compliance, structural integrity, and airtightness must be achieved simultaneously. This study presents a manufacturing-focused evaluation of several fabrication routes for complex pneumatic structures, including heat-shrink forming, silicone casting, powder- and liquid-based additive manufacturing, and fused deposition modeling (FDM). The processes were assessed through process screening, baseline fabrication, failure analysis, and process improvement to distinguish inherent process limitations from correctable manufacturing defects. Heat-shrink forming was limited by geometric conformity, casting by mold accessibility and bonded interfaces, powder-based methods by residual material trapped within enclosed passages, and digital light processing by the material properties and post-processing requirements of the investigated system. FDM provided the most adaptable route because its dominant defects could be progressively reduced through process optimization. The results further showed that airtightness depends not only on nominal wall thickness but also on extrusion-path architecture, while support-free geometry is important when access for internal post-processing is limited. These findings establish a practical design-for-manufacturing approach in which process selection is guided by the compatibility between actuator architecture and manufacturing constraints. The proposed approach provides practical guidance for developing complex, flexible, and airtight soft pneumatic actuators for soft robotic applications

cs.RO↗

arXiv2026

Soft Pneumatic Actuators for Soft Robotics: A Motion-Based Review of Actuation Mechanisms and Performance Trade-offs

Soft pneumatic actuators are widely used in soft robotics because they can produce large motions while remaining compliant enough to interact safely with objects, environments, and the human body. However, their performance is not solely determined by pressure. Instead, the response depends on the way the actuator is built, including the shape of its chambers, the placement of reinforcements, the use of folds, material stiffness, and the constraints that guide its deformation. As the literature has expanded, it has become more difficult to determine which mechanism is most suitable for a given application and which reported results can be compared across studies. This review examines soft pneumatic actuators according to the design strategies used to generate four motion classes: linear, bending, twisting, and omnidirectional actuation. For each class, it analyzes the structural features that define the deformation path, including braid angle, fold geometry, fiber orientation, chamber arrangement, structural asymmetry, and internal constraint layers. It then discusses how the design choice affect motion output, force generation, air demand, repeatability, durability, fabrication difficulty, and robotic integration. The review further identifies key conditions that must be considered when selecting or comparing actuators, including pressure, loading condition, actuator size, pneumatic supply, and hysteresis This approach helps explain why actuators with similar motion outputs may differ substantially in design requirements, pneumatic demand, and practical suitability. It also highlights the design priorities needed for compact, efficient, repeatable, and deployable soft pneumatic systems in wearable, biomedical, and mobile robotic applications.

cs.RO↗

arXiv2026

Analytical and Experimental Force Analysis of a Soft Linear Pneumatic Actuator

Soft sleeve actuators (SSAs) have recently been developed as a pneumatic actuation approach for wearable and assistive robotic systems. By integrating the actuation structure into a sleeve-like geometry, these actuators can reduce reliance on external attachment layers and transmission mechanisms while maintaining compliance with limb-shaped surfaces. However, the force-generation behavior of SSAs remains insufficiently explained, particularly with respect to the variation of output force during extension, the influence of external loading, and the mechanical role of axial stiffness. This paper presents an analytical and experimental force analysis of a linear soft sleeve actuator (LSSA). A quasi-static analytical model was developed by expressing the net axial force as the pressure-generated contribution from the cap and folded walls, reduced by the force associated with axial stiffness. The model incorporates internal pressure, projected pressure areas, folded wall geometry, axial displacement, and an experimentally fitted axial stiffness relation. Prescribed-extension and static-load experiments were conducted to evaluate the actuator response. At 125 kPa, the generated force decreased from approximately 112 N at zero extension to nearly zero at 40 mm. Static loading delayed measurable force generation and reduced force output, particularly at low and intermediate pressures. The results show that LSSA force generation is governed by coupled effects of pressure, geometry, displacement, loading, and axial stiffness.

cs.RO↗

arXiv2025

An Integrated SERVQUAL and Lean Six Sigma Framework for Measuring Customer Satisfaction in Computer Service Companies

The computer service industry has expanded rapidly over the past two decades, driven by the proliferation of computing technologies, the entry of large firms, and the availability of online diagnostic and troubleshooting tools. In this increasingly competitive environment, many small and medium sized enterprises struggle to maintain customer satisfaction as rivals deliver higher quality services at lower cost. This study addresses the absence of robust measurement systems for assessing service quality, a key factor underlying customer attrition, by proposing an integrated framework for evaluating satisfaction and identifying sources of dissatisfaction in computer services. The framework combines core principles of Six Sigma with the SERVQUAL instrument within a structured DMAIC methodology (Define, Measure, Analyze, Improve, and Control). SERVQUAL provides the service quality dimensions and gap analysis techniques, while Six Sigma supplies the data driven approach to measurement and improvement. The literature suggests limited prior work integrating Lean Six Sigma with SERVQUAL, and this study contributes by operationalizing that integration in a real world setting. A case study of a computer services company was conducted to demonstrate feasibility and effectiveness. Satisfaction levels were quantified, and root causes of dissatisfaction were identified. The analysis revealed a low overall satisfaction level and five primary drivers of unmet customer requirements. Addressing these causes is expected to increase customer satisfaction, lower customer acquisition costs, and improve overall organizational performance.

cs.CY↗

arXiv2025

Development and testing of novel soft sleeve actuators

Aging populations and the rising prevalence of neurological and musculoskeletal disorders increase the demand for wearable mobility assistive devices that are effective, comfortable, and anatomically compatible. Many existing systems use rigid mechanisms and bulky interfaces that impede force transmission and reduce wearability. This study introduces a soft sleeve actuation architecture that conforms to the limb while transmitting forces and moments efficiently. We develop three soft sleeve actuators that produce linear, bending, and twisting motion, and an omnidirectional design that combines these motions in one device. Actuators are fabricated from thermoplastic elastomers using a customized fused filament fabrication process that produces airtight and compliant structures and resolves leakage observed with conventional methods. A dedicated experimental platform quantifies kinematic outputs such as displacement, angle, and twist, and kinetic outputs such as force and torque under low pneumatic pressures. A parametric study varies geometric features and material properties to determine their influence on performance. Results show reproducible multi axis motion with improved transfer of force to the limb and reduced need for complex attachment hardware. The work establishes a unified and manufacturable framework for soft sleeve actuation that enables compact and user centered assistive technologies with enhanced kinematic and kinetic performance.

cs.RO↗