We use a phase-changing metal alloy to reversibly tune the elastic rigidity of an elastomer composite. The elastomer is embedded with a sheet of low-melting-point Field's metal and an electric Joule heater composed of a serpentine channel of liquid-phase gallium-indium-tin (Galinstan R) alloy. At room temperature, the embedded Field's metal is solid and the composite remains elastically rigid. Joule heating causes the Field's metal to melt and allows the surrounding elastomer to freely stretch and bend. Using a tensile testing machine, we measure that the effective elastic modulus of the composite reversibly changes by four orders of magnitude when powered on and off. This dramatic change in rigidity is accurately predicted with a model for an elastic composite. Reversible rigidity control is also accomplished by replacing the Field's metal with shape memory polymer. In addition to demonstrating electrically tunable rigidity with an elastomer, we also introduce a new technique to rapidly produce soft-matter electronics and multifunctional materials in several minutes with laser-patterned adhesive film and masked deposition of liquid-phase metal alloy.
Shape memory alloys (SMAs) are popular as actuators for soft bioinspired robots because they are naturally compliant, have high work density, and can be operated using miniaturized on‐board electronics for power and control. However, SMA actuators typically exhibit limited bandwidth due to the long duration of time required for the alloy to cool down and return to its natural shape and compliance following electrical actuation. This challenge is addressed by constructing SMA‐based actuators out of thermally conductive elastomers and examining the influence of electrical current and actuation frequency on blocking force, bending amplitude, and operating temperature. The actuator is composed of a U‐shape SMA wire that is sandwiched between layers of stretched and unstretched thermal elastomer. Based on the studies, the ability is demonstrated to create a highly dynamic soft actuator that weighs 3.7 g, generates a force of ≈0.2 N, bends with curvature change of ≈60 m−1 in 0.15 s, and can be activated with a frequency above 0.3 Hz with a pair of miniature 3.7 V lithium–polymer batteries. Together, these properties allow the actuator to be used as an “artificial muscle” for a variety of tethered and untethered soft robotic systems capable of fast dynamic locomotion.
By using compliant lightweight actuators with shape memory alloy, we created untethered soft robots that are capable of dynamic locomotion at biologically relevant speeds.
We introduce a conductive propylene-based elastomer (cPBE) that rapidly and reversibly changes its mechanical rigidity when powered with electrical current. The elastomer is rigid in its natural state, with an elastic (Young's) modulus of 175.5 MPa, and softens when electrically activated. By embedding the cPBE in an electrically insulating sheet of polydimethylsiloxane (PDMS), we create a cPBE-PDMS composite that can reversibly change its tensile modulus between 37 and 1.5 MPa. The rigidity change takes ∼6 s and is initiated when a 100 V voltage drop is applied across the two ends of the cPBE film. This magnitude of change in elastic rigidity is similar to that observed in natural skeletal muscle and catch connective tissue. We characterize the tunable load-bearing capability of the cPBE-PDMS composite with a motorized tensile test and deadweight experiment. Lastly, we demonstrate the ability to control the routing of internal forces by embedding several cPBE-PDMS 'active tendons' into a soft robotic pneumatic bending actuator. Selectively activating the artificial tendons controls the neutral axis and direction of bending during inflation.
Tunable dry adhesion has a range of applications, including transfer printing, climbing robots, and gripping in automated manufacturing processes. Here, a novel concept to achieve dynamically tunable dry adhesion via modulation of the stiffness of sub-surface mechanical elements is introduced and demonstrated. A composite post structure, consisting of an elastomer shell and a core with a stiffness that can be tuned via application of electrical voltage, was fabricated. In the nonactivated state, the core is stiff and the effective adhesion strength between the composite post and contact surface is high. Activation of the core via application of electrical voltage reduces the stiffness of the core, resulting in a change in the stress distribution and driving force for delamination at the interface and a reduction in the effective adhesion strength. The adhesion of composite posts with a range of dimensions were characterized and activation of the core was shown to reduce the adhesion by as much as a factor of six. The experimentally observed reduction in adhesion is primarily due to the change in stiffness of the core. However, the activation of the core also results in heating of the interface and this plays a secondary role in the adhesion change.
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