Spatiotemporally Programmable Metasurfaces via Viscoelastic Shell Snapping

Many species can dynamically alter their skin textures to enhance their motility and survivability. Despite the enormous efforts on designing bio-inspired materials with tunable surface textures, developing spatiotemporally programmable and reconfigurable textural morphing without complex control remains challenging. Here we propose a design strategy to achieve metasurfaces with such properties. The metasurfaces comprise an array of unit cells with broadly tailored temporal responses. By arranging the unit cells differently, the metasurfaces can exhibit various spatiotemporal responses, which can be easily reconfigured by disassembling and rearranging the unit cells. Specifically, we adopt viscoelastic shells as the unit cells, which can be pneumatically actuated to a concave state, and recover the initial convex state some time after the load is removed. We computationally and experimentally show that the recovery time can be widely tuned by the geometry and material viscoelasticity of the shells. By assembling such shells with different recovery time, we build metasurfaces with pre-programmed spatiotemporal textural morphing under simple pneumatic actuation, and demonstrate temporal evolution of patterns, such as digit numbers and emoji, and spatiotemporal control of friction. This work opens up new avenues in designing spatiotemporal morphing metasurfaces that could be employed for programming mechanical, optical and electrical properties. Corresponding author: Lihua Jin, Email: [email protected]

A Thermally Actuated Microvalve for Smart Irrigation in Precision Agriculture Applications

A normally-open thermally-actuated microvalve was designed (using microfabrication/soft-lithography techniques involving 3D Printed molds), assembled and tested. The motivation of the research work is to develop an array of microvalves for precise delivery of water to individual plants in a field (with the goal of developing smart irrigation systems for high value cash-crops in the agricultural sector). It is currently impossible to control application of irrigation-water at the level of a single plant. If such a capability were practically available on farms, the result would be a step change in precision agriculture, such that the output of every plant in a farm field could be optimized (i.e., food-water-energy nexus in sustainability applications). The aim of this study is to develop and test a microfluidic system (consisting of a microvalve array) that could be controlled, capillary by capillary, to deliver the needed amount of water to individual plants in a large field. Two types of test fluids were leveraged for thermo-hydraulic actuation of the microvalves developed in this study: (a) Design-I: using air, and (b) Design-II: using Phase Change Material (PCM). The PCM used in this study is PureTemp29. The proposed approach enabled a simple and cheap design for microvalves that can be manufactured easily and are robust to weather conditions (e.g., when exposed to the elements in orchards and open fields). Other advantages include: safe and reliable operation; low power consumption; can tolerate anomalous pressure loads/fluctuations; simple actuation; affords easy control schemes; is amenable for remote control; provides long-term reliability (life-cycle duration estimated to be 3∼5 years); can be mass produced and is low maintenance (possibly requiring no maintenance over the life time of operation). The microvalve consists of two layers: a flow layer and a control layer. The control layer is heated from below and contains a microfluidic chamber with a flexible polymeric thin-membrane (200 microns in thickness) on top. The device is microfabricated from Poly-Di-Methyl-Siloxane (PDMS) using soft lithography techniques (using a 3D Printed mold). The control chamber contains either air (thermo-pneumatic actuation) or PCM (thermo-hydraulic actuation involving repeated melting/freezing of PCM). The flow layer contains the flow channel (inlet and outlet ports, horizontal section and valve seat). The experimental results from testing the efficacy of the two types of micro-valves show a 60% reduction (for thermo-pneumatic actuation using air) and 40% reduction (for thermo-hydraulic actuation using PCM) in water flow rates for similar actuation conditions (i.e., heater temperature values). PCM design is expected to consume less power (lower OPEX) for long-term actuation but may have slower actuation speed and have higher manufacturing costs (CAPEX). Air actuation design is expected to consume more power (higher OPEX) for longer-term operation but may have faster actuation speeds and lower manufacturing costs (CAPEX). Computational Fluid Dynamics (CFD) simulations were performed to investigate the effect of flowing water (in the microfluidic channel) on the average absolute pressure and temperature of air in the actuation chamber. The CFD simulations were performed using a commercial tool (Ansys™ 2019R1®). The results from the CFD simulations are presented in this study.

Soft pneumatic elbow exoskeleton reduces the muscle activity, metabolic cost and fatigue during holding and carrying of loads

To minimize fatigue, sustain workloads, and reduce the risk of injuries, the exoskeleton Carry was developed. Carry combines a soft human–machine interface and soft pneumatic actuation to assist the elbow in load holding and carrying. We hypothesize that the assistance of Carry would decrease, muscle activity, net metabolic rate, and fatigue. With Carry providing 7.2 Nm of assistance, we found reductions of up to 50% for the muscle activity, up to 61% for the net metabolic rate, and up to 99% for fatigue in a group study of 12 individuals. Analyses of operation dynamics and autonomous use demonstrate the applicability of Carry to a variety of use cases, presumably with increased benefits for increased assistance torque. The significant benefits of Carry indicate this device could prevent systemic, aerobic, and/or possibly local muscle fatigue that may increase the risk of joint degeneration and pain due to lifting, holding, or carrying.

Actuation Technologies for Soft Robot Grippers and Manipulators: A Review

Purpose of Review The new paradigm of soft robotics has been widely developed in the international robotics community. These robots being soft can be used in applications where delicate yet effective interaction is necessary. Soft grippers and manipulators are important, and their actuation is a fundamental area of study. The main purpose of this work is to provide readers with fast references to actuation technologies for soft robotic grippers in relation to their intended application. Recent Findings The authors have surveyed recent findings on actuation technologies for soft grippers. They presented six major kinds of technologies which are either used independently for actuation or in combination, e.g., pneumatic actuation combined with electro-adhesion, for certain applications. Summary A review on the latest actuation technologies for soft grippers and manipulators is presented. Readers will get a guide on the various methods of technology utilization based on the application.

Comparison of Different Technologies for Soft Robotics Grippers

Soft grippers have experienced a growing interest due to their considerable flexibility that allows them to grasp a variety of objects, in contrast to hard grippers, which are designed for a specific item. One of their most remarkable characteristics is the ability to manipulate soft objects without damaging them. This, together with their wide range of applications and the use of novels materials and technologies, renders them a very robust device. In this paper, we present a comparison of different technologies for soft robotics grippers. We fabricated and tested four grippers. Two use pneumatic actuation (the gripper with chambered fingers and the jamming gripper), while the other two employ electromechanical actuation (the tendon driver gripper and the gripper with passive structure). For the experiments, a group of twelve objects with different mechanical and geometrical properties have been selected. Furthermore, we analyzed the effect of the environmental conditions on the grippers, by testing each object in three different environments: normal, humid, and dusty. The aim of this comparative study is to show the different performances of different grippers tested under the same conditions. Our findings indicate that we can highlight that the mechanical gripper with a passive structure shows greater robustness.

Experimental Study of a New Pneumatic Actuating System Using Exhaust Recycling

Pneumatic actuating systems are an important power system in industrial applications. Due to exhaust loss, however, pneumatic actuating systems have suffered from a low utilization of compressed air. To recycle the exhaust energy, a novel pneumatic circuit was proposed to realize energy savings through recycling exhaust energy. The circuit consisted of three two-position three-way switch valves, which were used to control the exhaust flows into a gas tank or the ambient environment. This paper introduced the energy recovery configuration and working principles and built a mathematical model of its working process. Then, the mathematical model was verified by experiments. Finally, through experiments in which the air supply pressure, the critical pressure and the volume of the gas tank were regulated, the energy recovery characteristics of the pneumatic actuating system were obtained. Using the new circuit, the experimental results showed that the energy recovery efficiency exceeded 23%. When the air supply pressure was set to 5 bar, 6 bar, and 7 bar, the time required for pneumatic actuation to complete the three working cycles were 5.2 s, 5.3 s, and 5.9 s, respectively. When the critical pressure was set to 0 bar, 0.5 bar, 1 bar, and 1.5 bar, the times for pneumatic actuation to complete the three working cycles were 4.9 s, 5.1 s, 5.2 s, and 5.3 s, respectively. When the volume of the gas tank was set to 2 L, 3 L, 4 L, and 5 L, the number of working cycles was 3, 4, 5, and 6, respectively. This paper provides a new method of cylinder exhaust recycling and lays a good foundation for pneumatic energy savings.

Sizing Optimization of Pneumatic Actuation Systems Through Operating Point Analysis

This paper reports a study on the static and dynamic behavior of pneumatic actuation systems, resulting in a comprehensive view of the influence of the system parameters on the energy efficiency and dynamic performance. The operating point approach based on the steady-state analysis of a pneumatic actuation system is used for developing analytical expressions to describe the relationship between the piston diameter and the system performance, including displacement time, stroke end velocity, and energy efficiency. The validity of the proposed equations is demonstrated by comparison with results from a test rig. Sensitivity analysis using a nonlinear dynamic simulation model indicated that a specific operating region exists, where good energy efficiency and the maximum dynamic performance are achieved. Moreover, the results show that an oversized system becomes more inefficient in both energetic and dynamic aspects. The results obtained provide a very consistent foundation for developing a method for pneumatic system sizing.