A Healable Resistive Heater as a Stimuli-Providing System in Self-Healing Soft Robots

Tabrizian, Seyedreza Kashef; Sahraeeazartamar, Fatemeh; Brancart, Joost; Roels, Ellen; Ferrentino, Pasquale; Legrand, J; Assche, Guy Van; Vanderborght, Bram; Terryn, Seppe

doi:10.1109/lra.2022.3150033

Cited by 18 publications

(19 citation statements)

References 43 publications

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“…On the other hand, heated healing only requires 1 h, which can be achieved by placing the SC in a heated environment such as an oven, or by incorporating embedded heaters within the system. [ 50 ] In the event of damage occurring in the stiff region, mold‐assisted healing provides a viable solution.…”

Section: Resultsmentioning

confidence: 99%

Self‐Closing and Self‐Healing Multi‐Material Suction Cups for Energy‐Efficient Vacuum Grippers

Wang,

Terryn,

Wang

et al. 2023

Advanced Intelligent Systems

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While vacuum grippers offer an economical solution, the environmental impact of energy waste through their suction cups (SCs) cannot be overlooked. This waste stems from three key factors: i) air losses from idle SCs arranged in arrays, ii) inadequate sealing on target surfaces leading to air leaks, and iii) damage from sharp objects resulting in leaking perforations. To overcome these challenges, in this article, a comprehensive approach is presented that involves the development of a i) self‐closing, ii) multi‐material, and iii) self‐healing system based on reversible elastomers cross‐linked via the Diels–Alder (DA) reaction. The system incorporates a fully autonomous self‐closing mechanism to prevent energy waste in SC arrays during periods of non‐contact. Fluid–structure interaction simulations are utilized to analyze the design. Versatility and stability are achieved by incorporating hyper‐flexible and stiff elastomers in a multi‐material design, supported by covalent DA cross‐links that ensure robustness through high‐strength multi‐material interfaces. These DA cross‐links also enable self‐healing capabilities, allowing the SCs to recover from macroscopic damages within 1 day at ambient conditions or in a single hour with mild heating (80–90 °C), restoring full performance. Additionally, in the article, a recycling method is introduced for multi‐material SCs based on the mechanical separation of reversible polymers.

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Section: Resultsmentioning

confidence: 99%

Self‐Closing and Self‐Healing Multi‐Material Suction Cups for Energy‐Efficient Vacuum Grippers

Wang,

Terryn,

Wang

et al. 2023

Advanced Intelligent Systems

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“…A self-healing heater, made of a hybrid composite of self-healing Diels-Alder based material, carbon black and nanoclay, has been developed [15]. The addition of the two fillers makes the material electrically conductive, while maintaining its self-healing ability.…”

Section: Embedded Healable Heatermentioning

confidence: 99%

Mechanisms boosting material embodied intelligence to realize self-healing soft robots

Tabrizian,

Terryn,

Brancart

et al. 2023

IOP Conf. Ser.: Mater. Sci. Eng.

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The recent introduction of self-healing soft materials in robotics is a major step towards sustainable next generation robots. By manufacturing soft robots out of these smart materials, we integrate a self-healing ability and increase the physical intelligence of these systems. However, the embodied intelligence in the material level needs to be augmented by incorporating assistive mechanisms in the system level with minimized control, enabling healing of damage in different sizes and in diverse working conditions. These assistive mechanisms can provide damage detection, damage closure, healing stimuli providing, health monitoring, or a combination of the previous. In this paper, we present two different mechanisms for an autonomous healing of damages; (i) Embedding a healable heater in a self-healing soft actuator to increase the temperature required for an efficient healing, while it allows detecting the damage and monitoring the health of the system. (ii) Incorporating shape memory alloy wires in a self-heling soft bending actuator, with simultaneous sealing through contraction and heating abilities. Apart from assisting in the healing action, both mechanisms play a part in the actuation of the bending robots as strain limiting elements. These assistive mechanisms will overcome the limitation on the material level, leading to robots that can self-heal in applications outside of laboratories and factories.

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“…For thermally reversible self-healing networks, higher temperatures can accelerate the healing process. Tabrizian et al developed a self-healing soft actuator integrated with a self-healing electronic heater in which the actuator consists of a DA thermally reversible elastomer with a healing capability [ 115 ]. DA filled with 20% carbon black serves as a substrate of the heater, providing conductive properties for Joule resistance heating.…”

Section: Self-healing Electronic Skinmentioning

confidence: 99%

Section: Figurementioning

confidence: 99%

Self-Healing Materials-Based Electronic Skin: Mechanism, Development and Applications

Chen

Wang

et al. 2022

Gels

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Electronic skin (e-skin) has brought us great convenience and revolutionized our way of life. However, due to physical or chemical aging and damage, they will inevitably be degraded gradually with practical operation. The emergence of self-healing materials enables e-skins to achieve repairment of cracks and restoration of mechanical function by themselves, meeting the requirements of the era for building durable and self-healing electronic devices. This work reviews the current development of self-healing e-skins with various application scenarios, including motion sensor, human–machine interaction and soft robots. The new application fields and present challenges are discussed; meanwhile, thinkable strategies and prospects of future potential applications are conferenced.

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A Healable Resistive Heater as a Stimuli-Providing System in Self-Healing Soft Robots

Cited by 18 publications

References 43 publications

Self‐Closing and Self‐Healing Multi‐Material Suction Cups for Energy‐Efficient Vacuum Grippers

Self‐Closing and Self‐Healing Multi‐Material Suction Cups for Energy‐Efficient Vacuum Grippers

Mechanisms boosting material embodied intelligence to realize self-healing soft robots

Self-Healing Materials-Based Electronic Skin: Mechanism, Development and Applications

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