A Twisted and Coiled Polymer Artificial Muscles Driven Soft Crawling Robot Based on Enhanced Antagonistic Configuration

Wu, Chunbing; Zhang, Zhuang; Zheng, Weiming

doi:10.3390/machines10020142

Cited by 15 publications

(13 citation statements)

References 56 publications

(70 reference statements)

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“…In the last 2 years, the performance metrics of artificial muscles have been upgraded and have continued to gain new applications in the field of soft robotics. We can see the refinement of artificial muscle powered insect-sized robots ( Wang Z et al, 2021 ; Kim D et al, 2022 ), the improvement of artificial muscle driven water-walking robots ( Zhou X et al, 2021 ; Kim S et al, 2022 ), soft tension robots for exploring unknown spaces ( Kobayashi et al, 2022 ; Zhou et al, 2022a ), the enhancement of artificial muscle driven soft crawling robots ( Liu et al, 2021 ; Wu et al, 2022 ), the realization of rehabilitation assistance training robot based on pneumatic artificial muscles ( Wang and Xu, 2021 ; Chu et al, 2022 ; Tsai and Chiang, 2022 ), control optimization and modeling of artificial muscle-actuated endo-exoskeleton robots ( Chen et al, 2022 ; Lin et al, 2021 ; Liu H et al, 2022 ; Yang et al, 2022 ), and the application of SNA in soft wearable robots ( Jeong et al, 2022 ).…”

Section: Discussionmentioning

confidence: 99%

“…They are made of twisted and coiled polymer fibers that form a spring-like structure and can contract or expand tremendously when heated. In the past few years, researchers have reported a variety of TCAMs, including TCAMs Driven Soft Crawling Robot ( Wu et al, 2022 ), Modeling framework for macroscopic dynamics of twisted and coiled polymer actuator driven by Joule heating focusing on energy and convective heat transfer ( Masuya et al, 2017 ), force enhanced multi-twisted and coiled actuator ( Zhou et al, 2022b ), CN-polypyrrole coated twisted and coiled yarn artificial muscles ( Aziz et al, 2020 ), spandex fibers and SMA Skeleton TCAMs (Zhang and Yang et al, 2022), etc. Twisted and coiled soft actuators used for special clothing, twisted and coiled carbon nanotube yarn annealing and reinforcement process, and TCAMs array devices have been applied for patents on their technologies, providing a foundation for commercial production.…”

Section: Discussionmentioning

confidence: 99%

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Advances in artificial muscles: A brief literature and patent review

Jing

Su²,

Yu³

et al. 2023

Front. Bioeng. Biotechnol.

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Background: Artificial muscles are an active research area now.Methods: A bibliometric analysis was performed to evaluate the development of artificial muscles based on research papers and patents. A detailed overview of artificial muscles’ scientific and technological innovation was presented from aspects of productive countries/regions, institutions, journals, researchers, highly cited papers, and emerging topics.Results: 1,743 papers and 1,925 patents were identified after retrieval in Science Citation Index-Expanded (SCI-E) and Derwent Innovations Index (DII). The results show that China, the United States, and Japan are leading in the scientific and technological innovation of artificial muscles. The University of Wollongong has the most publications and Spinks is the most productive author in artificial muscle research. Smart Materials and Structures is the journal most productive in this field. Materials science, mechanical and automation, and robotics are the three fields related to artificial muscles most. Types of artificial muscles like pneumatic artificial muscles (PAMs) and dielectric elastomer actuator (DEA) are maturing. Shape memory alloy (SMA), carbon nanotubes (CNTs), graphene, and other novel materials have shown promising applications in this field.Conclusion: Along with the development of new materials and processes, researchers are paying more attention to the performance improvement and cost reduction of artificial muscles.

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Section: Discussionmentioning

confidence: 99%

Section: Discussionmentioning

confidence: 99%

Advances in artificial muscles: A brief literature and patent review

Jing

Su²,

Yu³

et al. 2023

Front. Bioeng. Biotechnol.

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show abstract

“…[28,56] Similarly, the crawling velocity of the proposed robot on a horizontal plane is nearly identical to those of other inchworm-like soft robots [45,53] and higher in certain cases. [4,28,29,31,32,34,36,[54][55][56] However, the developed robot is slower than the insect-scale robot [44] because it is driven by a lower voltage value. Nevertheless, the robot can achieve various locomotion modes as a controlled EAA is designed as the robot foot rather than a stiff hook.…”

Section: Performance Comparisonmentioning

confidence: 99%

Inchworm‐Like Soft Robot with Multimodal Locomotion Using an Acrylic Stick‐Constrained Dielectric Elastomer Actuator

Liu

2023

Advanced Intelligent Systems

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Several remarkable robots inspired by animals, such as fish, [1][2][3] inchworms, [4,5] annelids, [6,7] insects, [8][9][10] geckos, [11,12] and octopuses, [13,14] have attracted significant interest of researchers. These nature-based robots have been created for potential applications in search operations, inspection, cleaning, and manipulation. Among them, the inchworm has a soft and flexible body, simple and distinctive multimodal locomotion, including inverted climbing, vertical climbing, horizontal crawling, and turning, and high adaptability to complex natural environments. Over the decades, these characteristics have inspired the design of several robots with the morphology and locomotion patterns of inchworms. For instance, rigid inchworm-like robots capable of inverted climbing, vertical climbing, and horizontal crawling functions have been developed. [15,16] A study reported a crawling robot composed of servo motors, rigid linkages, and electromagnetic feet that could crawl on and climb pipes and flat surfaces. [5] An inchworm-like capsule robot with rigid expanders and extensors was developed that could crawl inside tubes. [17] However, these robots with rigid drivers and mechanical components were heavy, exhibited complex structures, and operated noisily. Furthermore, as opposed to actual inchworms, the rigid inchworm-like robots failed to adapt suitably to unstructured environments owing to the lack of resilience and flexibility of the components.To overcome the disadvantages of rigidity and endow the robots with flexible body characteristics, researchers have used soft actuator technology to design robots with inchworm-like structures and functions. [18][19][20][21] At present, pneumatics, magnetic fields, shape memory alloys (SMAs), twisted and coiled polymers (TCPs), liquid crystal elastomers (LCEs), ionic polymer-metal composites (IPMCs), and dielectric elastomers (DEs) are the major classes of soft actuators used for designing inchworm-like soft robots. In comparison with the conventional rigid robots, inchworm-like soft robots exhibit certain advantages, such as a simpler structure, higher flexibility, lighter weight, better mobility, and stronger adaptability. [22][23][24] Pneumatic actuators that can generate sufficient deformation and output force have been used to realize soft crawling robots, with vertical climbing and horizontal crawling motions, [25,26] and differential-drive soft robots capable of turning locomotion. [27] Alternatively, a versatile soft crawling robot comprising vacuum-actuated spring actuators and electrostatic footpads can accomplish vertical climbing and turning locomotion while carrying a payload that is 69 times its self-weight on a horizontal plane. [28] However, these robots are heavy, move slowly, and

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“…It can be observed from the solid line that the speed decreases with an increase in the payload, and 300 g is the upper limit of the load capacity. 33 SMA PDMS and PVC 0.018 2.25 Wu et al 34 SMA Silicone and TCP 0.0028 / Hua et al 35 Electromagnetic Magnetorheological fluid 0.071 / Niu et al 36 Electromagnetic Silicone and magnet patches 0.72 / Cheng et al 37 Cable driven Polymeric material 0.026 0.9 Current robot Cable driven Silicone and PLA 0.15 4.4…”

Section: Capability Tests Of the Robotmentioning

confidence: 99%

Walking locomotion of a cable-driven soft-legged robot

Tang

Chen

Zhang

et al. 2022

Proceedings of the Institution of Mechanical Engineers, Part C:

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A soft quadruped robot that can perform linear locomotion and turning patterns is proposed. The silicone rubber legs were cable-actuated and powered by motors. First, the bending behavior of the soft legs under quasi-static conditions was studied, and then mathematical models for linear and turning motions were established based on gait analysis. The soft-legged robot can decouple linear and turning motions. Furthermore, slope walking and payload were experimentally tested. The results showed that the robot can conduct linear locomotion at a speed of 19.8 mm/s and turn with an angular velocity of 4.4°/s. In addition, it had a payload of up to 300 g, and performed well on a smooth surface with a 17° slope.

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A Twisted and Coiled Polymer Artificial Muscles Driven Soft Crawling Robot Based on Enhanced Antagonistic Configuration

Cited by 15 publications

References 56 publications

Advances in artificial muscles: A brief literature and patent review

Advances in artificial muscles: A brief literature and patent review

Inchworm‐Like Soft Robot with Multimodal Locomotion Using an Acrylic Stick‐Constrained Dielectric Elastomer Actuator

Walking locomotion of a cable-driven soft-legged robot

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