Transparent Soft Electrothermal Actuators with Integrated Cu Nanowire Heater for Soft Robotics

2021 ◽  
pp. 2100638
Author(s):  
Chunlei Chang ◽  
Le Zhao ◽  
Zichen Song ◽  
Yan Zhou ◽  
Shihui Yu
Keyword(s):  
Soft Robotics ◽  
Electrothermal Actuators

scholarly journals Advanced soft robot modeling in ChainQueen

Robotica ◽  
2021 ◽  
pp. 1-31
Author(s):  
Andrew Spielberg ◽  
Tao Du ◽  
Yuanming Hu ◽  
Daniela Rus ◽  
Wojciech Matusik
Keyword(s):  
Application Programming Interface ◽  
Material Point ◽  
Soft Robotics ◽  
Soft Robot ◽  
Inference Control ◽  
Simulation And Optimization ◽  
Efficient Simulation ◽  
Application Programming ◽  
Robot Modeling ◽  
Programming Interface

Abstract We present extensions to ChainQueen, an open source, fully differentiable material point method simulator for soft robotics. Previous work established ChainQueen as a powerful tool for inference, control, and co-design for soft robotics. We detail enhancements to ChainQueen, allowing for more efficient simulation and optimization and expressive co-optimization over material properties and geometric parameters. We package our simulator extensions in an easy-to-use, modular application programming interface (API) with predefined observation models, controllers, actuators, optimizers, and geometric processing tools, making it simple to prototype complex experiments in 50 lines or fewer. We demonstrate the power of our simulator extensions in over nine simulated experiments.

scholarly journals Artificial Cutaneous Sensing of Object Slippage using Soft Robotics with Closed‐Loop Feedback Process

Small Science ◽  
2021 ◽  
pp. 2100002
Author(s):  
Tomohito Sekine ◽  
Yi-Fei Wang ◽  
Jinseo Hong ◽  
Yasunori Takeda ◽  
Reo Miura ◽  
...  
Keyword(s):  
Closed Loop ◽  
Soft Robotics ◽  
Feedback Process ◽  
Loop Feedback ◽  
Closed Loop Feedback

scholarly journals A Soft Resistive Sensor with a Semicircular Cross-Sectional Channel for Soft Cardiac Catheter Ablation

Sensors ◽  
2021 ◽  
Vol 21 (12) ◽  
pp. 4130
Author(s):  
Eric Rasmussen ◽  
Daniel Guo ◽  
Vybhav Murthy ◽  
Rachit Mishra ◽  
Cameron Riviere ◽  
...  
Keyword(s):  
Catheter Ablation ◽  
Liquid Metal ◽  
Force Feedback ◽  
Applied Force ◽  
Medical Community ◽  
Soft Robotics ◽  
Soft Sensors ◽  
Cross Sectional ◽  
Cardiac Catheter ◽  
Specific Loading

The field of soft robotics has attracted the interest of the medical community due to the ability of soft elastic materials to traverse the abnormal environment of the human body. However, sensing in soft robotics has been challenging due to the sensitivity of soft sensors to various loading conditions and the nonlinear signal responses that can arise under extreme loads. Ideally, soft sensors should provide a linear response under a specific loading condition and provide a different response for other loading directions. With these specifications in mind, our team created a soft elastomeric sensor designed to provide force feedback during cardiac catheter ablation surgery. Analytical and computational methods were explored to define a relationship between resistance and applied force for a semicircular, liquid metal filled channel in the soft elastomeric sensor. Pouillet’s Law is utilized to calculate the resistance based on the change in cross-sectional area resulting from various applied pressures. FEA simulations were created to simulate the deformation of the sensor under various loads. To confirm the validity of these simulations, the elastomer was modeled as a neo-Hookean material and the liquid metal was modeled as an incompressible fluid with negligible shear modulus under uniaxial compression. Results show a linearly proportional relationship between the resistance of the sensor and the application of a uniaxial force. Altering the direction of applied force results in a quadratic relationship between total resistance and the magnitude of force.

scholarly journals Concentration Gradient‐Based Soft Robotics: Hydrogels Out of Water

2020 ◽  
Vol 30 (46) ◽  
pp. 2004417
Author(s):  
Antonio López‐Díaz ◽  
Ana Martín‐Pacheco ◽  
Antonio M. Rodríguez ◽  
M. Antonia Herrero ◽  
Andrés S. Vázquez ◽  
...  
Keyword(s):  
Concentration Gradient ◽  
Soft Robotics ◽  
Gradient Based

Fabrication, modeling, and characterization of soft twisting electrothermal actuators with directly printed oblique heater

2022 ◽  
Author(s):  
Yang Cao ◽  
Jingyan Dong
Keyword(s):  
Kinematic Model ◽  
Design Parameters ◽  
Deformation Analysis ◽  
Pdms Layer ◽  
Element Analysis ◽  
Electrothermal Actuators ◽  
Bending Deformation ◽  
Heating Capacity ◽  
Twisting Angle ◽  
Twisting Deformation

Abstract Soft electrothermal actuators have drawn extensive attention in recent years for their promising applications in biomimetic and biomedical areas. Most soft electrothermal actuators reported so far demonstrated uniform bending deformation, due to the deposition based fabrication of the conductive heater layer from nanomaterial-based solutions, which generally provides uniform heating capacity and uniform bending deformation. In this paper, a soft electrothermal actuator that can provide twisting deformation was designed and fabricated. A metallic microfilament heater of the soft twisting actuator was directly printed using electrohydrodynamic (EHD) printing, and embedded between two structural layers, a polyimide (PI) film and a polydimethylsiloxane (PDMS) layer, with distinct thermal expansion properties. Assisted by the direct patterning capabilities of EHD printing, a skewed heater pattern was designed and printed. This skewed heater pattern not only produces a skewed parallelogram-shaped temperature field, but also changes the stiffness anisotropy of the actuator, leading to twisting deformation with coupled bending. A theoretical kinematic model was built for the twisting actuator to describe its twisting deformation under different actuation effects. Based on that model, influence of design parameters on the twisting angle and motion trajectory of the twisting actuator were studied and validated by experiments. Finite element analysis (FEA) was utilized for the thermal and deformation analysis of the actuator. The fabricated twisting actuator was characterized on its heating and twisting performance at different supply voltages. Using three twisting actuators, a soft gripper was designed and fabricated to implement pick-and-place operations of delicate objects.

Chinese ink: a programmable, dual-responsive and self-sensing actuator by using a healing-assembling method

Nanoscale ◽  
2021 ◽  
Author(s):  
Jian Lin ◽  
Peidi Zhou ◽  
Zhiyuan Wen ◽  
Wei Zhang ◽  
Zhiling Luo ◽  
...  
Keyword(s):  
Soft Robotics ◽  
Dual Responsive

Actuators have wide applications in soft robotics and bionic devices. Since healing ability not only makes the actuators have longer service lives, but also allows them to be programmable through...

Scaling Up Soft Robotics: A Meter-Scale, Modular, and Reconfigurable Soft Robotic System

Soft Robotics ◽  
2021 ◽  
Author(s):  
Shuguang Li ◽  
Samer A. Awale ◽  
Katharine E. Bacher ◽  
Thomas J. Buchner ◽  
Cosimo Della Santina ◽  
...  
Keyword(s):  
Scaling Up ◽  
Robotic System ◽  
Soft Robotics
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