A fluidic demultiplexer for controlling large arrays of soft actuators

Soft Matter ◽  
2020 ◽  
Vol 16 (25) ◽  
pp. 5871-5877
Author(s):  
Nicholas W. Bartlett ◽  
Kaitlyn P. Becker ◽  
Robert J. Wood
Keyword(s):  
Control System ◽  
Soft Robotics ◽  
Potential Control ◽  
Soft Actuators

This work proposes a soft microfluidic demultiplexer as a potential control system for soft robotics.

Transparent Soft Actuators/Sensors and Camouflage Skins for Imperceptible Soft Robotics

2020 ◽  
pp. 2002397
Author(s):  
Phillip Won ◽  
Kyun Kyu Kim ◽  
Hyeonseok Kim ◽  
Jung Jae Park ◽  
Inho Ha ◽  
...  
Keyword(s):  
Soft Robotics ◽  
Soft Actuators

scholarly journals An Overview of Novel Actuators for Soft Robotics

Actuators ◽  
2018 ◽  
Vol 7 (3) ◽  
pp. 48 ◽  
Author(s):  
Pinar Boyraz ◽  
Gundula Runge ◽  
Annika Raatz
Keyword(s):  
Meta Analysis ◽  
Performance Criteria ◽  
Soft Robotics ◽  
Magnetic Actuators ◽  
Technological Readiness ◽  
Potential Applications ◽  
Readiness Level ◽  
Comprehensive Comparison ◽  
Electro Magnetic ◽  
Soft Actuators

In this systematic survey, an overview of non-conventional actuators particularly used in soft-robotics is presented. The review is performed by using well-defined performance criteria with a direction to identify the exemplary and potential applications. In addition to this, initial guidelines to compare the performance and applicability of these novel actuators are provided. The meta-analysis is restricted to five main types of actuators: shape memory alloys (SMAs), fluidic elastomer actuators (FEAs), shape morphing polymers (SMPs), dielectric electro-activated polymers (DEAPs), and magnetic/electro-magnetic actuators (E/MAs). In exploring and comparing the capabilities of these actuators, the focus was on eight different aspects: compliance, topology-geometry, scalability-complexity, energy efficiency, operation range, modality, controllability, and technological readiness level (TRL). The overview presented here provides a state-of-the-art summary of the advancements and can help researchers to select the most convenient soft actuators using the comprehensive comparison of the suggested quantitative and qualitative criteria.

scholarly journals Dielectric Elastomer Grippers

2021 ◽  
Vol 10 (5) ◽  
pp. 33-36
Author(s):  
Mills Patel ◽  
Rudrax Khamar ◽  
Akshat Shah ◽  
Tej shah ◽  
Bhavik Soneji
Keyword(s):  
Mechanical Properties ◽  
Power Generation ◽  
State Of The Art ◽  
Artificial Muscle ◽  
Dielectric Elastomer ◽  
Soft Robotics ◽  
Artificial Muscles ◽  
Dielectric Elastomer Actuators ◽  
Working Principle ◽  
Soft Actuators

This paper appraisals state-of-the-art dielectric elastomer actuators (DEAs) and their forthcoming standpoints as soft actuators which have freshly been considered as a crucial power generation module for soft robots. DEs behave as yielding capacitors, expanding in area and attenuation in thickness when a voltage is applied. The paper initiates with the explanation of working principle of dielectric elastomer grippers. Here the operation of DEAs include both physics and mechanical properties with its characteristics, we have describe methods for modelling and its introductory application. In inclusion, the artificial muscle based on DEA concept is also formally presented. This paper also elaborates DEAs popular application such as- Soft Robotics, Robotics grippers and artificial muscles.

Cutting the Cord: Progress in Untethered Soft Robotics and Actuators

MRS Advances ◽  
2019 ◽  
Vol 4 (51-52) ◽  
pp. 2787-2804 ◽  
Author(s):  
Meng Li ◽  
Nicholas A Ostrovsky-Snider ◽  
Metin Sitti ◽  
Fiorenzo G Omenetto
Keyword(s):  
Real World ◽  
Material Science ◽  
Degrees Of Freedom ◽  
Research Interest ◽  
Soft Robotics ◽  
Stimuli Responsive ◽  
New Materials ◽  
Real World Applications ◽  
Soft Actuators ◽  
Rigid Skeleton

AbstractIn recent decades, increasing research interest has shifted from traditional rigid skeleton robotics to flexible, shape-programmable, environmentally adaptive and stimuli-responsive “soft robotics”. Within this discipline, soft-robots capable of untethered and/or remote-controlled operation are of particular interest given their utility for actuation in complex situations with larger range of mobility and higher degrees of freedom. The use of new materials and the development of advanced fabrication techniques enable better performance and expand the utility of such soft actuators, moving them towards real-world applications. This review outlines some recent advances in untethered soft robotics and actuators to illustrate the promise of these applications at the interface of material science and device engineering.

Posture measurement of soft pneumatic bending actuator using optical fibre-based sensing membrane

2019 ◽  
Vol 46 (1) ◽  
pp. 118-127 ◽  
Author(s):  
Guangkai Sun ◽  
Yang Hu ◽  
Mingli Dong ◽  
Yanlin He ◽  
Mingxin Yu ◽  
...  
Keyword(s):  
Feedback Control ◽  
Optical Fibre ◽  
Repeated Measurements ◽  
Soft Robotics ◽  
Wavelength Shift ◽  
Content Type ◽  
Bending Actuator ◽  
Soft Actuators ◽  
Sensing Membrane ◽  
Posture Measurement

Purpose Soft robotics is a burgeoning field owing to its high adaptability and safety in human–machine interaction and unstructured environments. However, the feedback control of soft actuators with flexible sensors is still a challenge. Design/methodology/approach To address this issue, this study proposes an optical fibre-based sensing membrane for the posture measurement of soft pneumatic bending actuators. The major contribution is the development of a flexible sensing membrane with a high sensitivity and repeatability for the feedback control of soft actuators. The characteristics of sensing membrane were analysed. The relationship between wavelength shift and bending curvature was derived. The curvatures of soft actuator were measured at four bending status, and the postures were reconstructed. Findings The results indicate that the measurement error is less than 2.1% of the actual bending curvature. The sensitivity is up to 212.8 pm/m−1, and the signal fluctuation in repeated measurements is negligible. This approach has broad application prospects in soft robotics, because it makes the optical fibre achieve more strength and compatible with soft actuators, thus improving the sensing accuracy, sensitivity and reliability of fibre sensors. Originality/value Different from previous approaches, an optical fibre with FBGs is embedded into a multilayered polyimide film to form a flexible sensing membrane, and the membrane is embedded into a soft pneumatic bending actuator as the smart strain limited layer which is able to measure the posture in real time. This approach makes the optical fibre stronger and compatible with the soft pneumatic bending actuator, and the sensing accuracy, sensitivity and reliability are improved. The proposed sensing configuration is effective for the feedback control of the soft pneumatic bending actuators.

Development of Miniaturized Rubber Muscle Actuator Driven by Gas-Liquid Phase Change

2016 ◽  
Author(s):  
Tomonori Kato ◽  
Kazuki Sakuragi ◽  
Mingzhao Cheng ◽  
Ryo Kakiyama ◽  
Yuta Matsunaga ◽  
...  
Keyword(s):  
Control System ◽  
Liquid Phase ◽  
Frequency Response ◽  
Artificial Muscle ◽  
Phase Changes ◽  
Corner Frequency ◽  
Pi Control ◽  
Pneumatic Actuators ◽  
Frequency Responses ◽  
Soft Actuators

The goal of this study is to develop a miniaturized artificial muscle in which a tiny compressor can be installed. Pneumatic actuators, such as pneumatic artificial rubber muscles (PARMs), have been widely used in many industrial and robotic research applications because they are compact and lightweight. However, the compressors driving such actuators are relatively large. To solve this problem, the authors have been researching soft actuators driven by gas-liquid phase changes (GLPCs). In this study, a fixed chamber containing a constantan heater and fluorocarbon was used to generate pressure instead of a compressor. The pressure generation caused by the GLPC was confirmed, and a PARM contraction experiment was then conducted. Additionally, a PI control system was built to test the step and frequency responses of the actuator. A frequency response of up to 4.0 Hz was determined, and the corner frequency was found to be approximately 1.5 Hz. The size of the actuator was reduced by removing the chamber and installing the heater in the rubber muscle. A PARM driving experiment was conducted, and the performance of the PARM was evaluated. The miniaturized actuator consumes less power than the original actuator.

Hydraulically amplified self-healing electrostatic actuators with muscle-like performance

Science ◽  
2018 ◽  
Vol 359 (6371) ◽  
pp. 61-65 ◽  
Author(s):  
E. Acome ◽  
S. K. Mitchell ◽  
T. G. Morrissey ◽  
M. B. Emmett ◽  
C. Benjamin ◽  
...  
Keyword(s):  
High Speed ◽  
Dielectric Breakdown ◽  
Artificial Muscle ◽  
Robotic Arm ◽  
Soft Robotics ◽  
Self Healing ◽  
Electrostatic Actuators ◽  
Robotic Devices ◽  
Soft Actuators ◽  
Wide Potential

Existing soft actuators have persistent challenges that restrain the potential of soft robotics, highlighting a need for soft transducers that are powerful, high-speed, efficient, and robust. We describe a class of soft actuators, termed hydraulically amplified self-healing electrostatic (HASEL) actuators, which harness a mechanism that couples electrostatic and hydraulic forces to achieve a variety of actuation modes. We introduce prototypical designs of HASEL actuators and demonstrate their robust, muscle-like performance as well as their ability to repeatedly self-heal after dielectric breakdown—all using widely available materials and common fabrication techniques. A soft gripper handling delicate objects and a self-sensing artificial muscle powering a robotic arm illustrate the wide potential of HASEL actuators for next-generation soft robotic devices.

Asymptotically Stabilizing Potential Control for the Eye Movement Dynamics

2014 ◽  
Author(s):  
Bijoy K. Ghosh ◽  
Takafumi Oki ◽  
Sanath D. Kahagalage ◽  
Indika Wijayasinghe
Keyword(s):  
Control System ◽  
Cost Function ◽  
Equilibrium Point ◽  
Eye Movement ◽  
Movement Control ◽  
Potential Control ◽  
Damping Control ◽  
Minimum Total Energy ◽  
Alternate Forms ◽  
Hamilton Jacobi Bellman

In this paper, we analyze the problem of stabilizing a rotating eye movement control system satisfying the Listing’s constraint. The control system is described using a suitably defined Lagrangian and written in the corresponding Hamiltonian form. We introduce a damping control and show that this choice of control asymptotically stabilizes the equilibrium point of the dynamics, while driving the state to a point of minimum total energy. The equilibrium point can be placed by appropriately locating the minimum of a potential function. The damping controller has been shown to be optimal with respect to a suitable cost function. We choose alternate forms of this cost function, by adding a term proportional to the potential energy, and synthesize stabilizing control, using numerical solution to the the well known Hamilton Jacobi Bellman equation. Using Chebyshev collocation method, the newly synthesized controller is compared with the damping control.

Towards a Soft Robotic 3rd Arm for Activities of Daily Living

2017 ◽  
Author(s):  
Weston R. Olson ◽  
Panagiotis Polygerinos
Keyword(s):  
Activities Of Daily Living ◽  
Daily Living ◽  
The Body ◽  
Soft Robotics ◽  
Aircraft Fuselage ◽  
Supernumerary Limbs ◽  
Recent Addition ◽  
Soft Actuators ◽  
Human Limb

Limb sensorimotor function plays an important role in activities of daily living (ADLs) and quality of life. Spinal cord dysfunctions, such as cervical spondylotic myelopathy (CSM), often affect limb function and limit independence. In this paper, we apply technologies from the emerging field of soft robotics to develop Soft Robotic 3rd Arms (SR3As) that branch out of the body — thus providing an artificial limb that enables effective execution of ADLs for CSM patients and the like. Soft robotics is a fairly recent addition to the field of robotics. Differing from traditional, “hard”, robotics, soft robotics are made of flexible materials such as silicone rather than stiff materials such as metals. One such soft robotic actuator is the fiber-reinforced actuator (FRA). Fabricated utilizing a combination of silicone bladder(s) and inextensible materials, these actuators are able to perform one of various motions through changes of pressure [1]. Supernumerary limbs (3rd arms), in contrast, are extra robotic limbs that can function cooperatively or independently of the user’s own limbs. These differ from exoskeletal robotics, as they are not fixated to the user’s limb to augment strength, but rather are placed elsewhere on the body to assist in tasks that would otherwise require multiple people. Examples of such devices include MIT/Boeing’s supernumerary arms to assist in the assembly of aircraft fuselage [2] or the supernumerary hand Softhand [3]. Combining these two concepts, an articulate SR3A was created (Fig. 1). By replacing traditional actuators with soft actuators, the limb is not only lighter, but it also better replicates the equivalent human limb. In addition to these benefits, the SR3A would also need to be less expensive to fabricate and actuate than an arm using rigid body components. This paper presents the design of a proof-of-concept prototype of a SR3A utilizing soft robotic actuators that could be used to assist individuals with hand impairments perform ADLs.

scholarly journals Monolithic shape-programmable dielectric liquid crystal elastomer actuators

2019 ◽  
Vol 5 (11) ◽  
pp. eaay0855 ◽  
Author(s):  
Zoey S. Davidson ◽  
Hamed Shahsavan ◽  
Amirreza Aghakhani ◽  
Yubing Guo ◽  
Lindsey Hines ◽  
...  
Keyword(s):  
Liquid Crystal ◽  
High Performance ◽  
Degrees Of Freedom ◽  
New Technologies ◽  
Elastic Anisotropy ◽  
Active Material ◽  
Soft Robotics ◽  
Liquid Crystal Elastomer ◽  
Liquid Crystal Elastomers ◽  
Soft Actuators

Soft robotics may enable many new technologies in which humans and robots physically interact, yet the necessary high-performance soft actuators still do not exist. The optimal soft actuators need to be fast and forceful and have programmable shape changes. Furthermore, they should be energy efficient for untethered applications and easy to fabricate. Here, we combine desirable characteristics from two distinct active material systems: fast and highly efficient actuation from dielectric elastomers and directed shape programmability from liquid crystal elastomers. Via a top-down photoalignment method, we program molecular alignment and localized giant elastic anisotropy into the liquid crystal elastomers. The linearly actuated liquid crystal elastomer monoliths achieve strain rates over 120% per second with an energy conversion efficiency of 20% while moving loads over 700 times the elastomer weight. The electric actuation mechanism offers unprecedented opportunities toward miniaturization with shape programmability, efficiency, and more degrees of freedom for applications in soft robotics and beyond.

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