Biomimetic Soft Actuator: Design, Modeling, Control, and Applications

Choi, Hyouk Ryeol; Jung, Kwangmok; Ryew, Sungmoo; Nam, Jae‐Do; Jeon, Jae-Wook; Koo, Ja Choon; Tanie, K.

doi:10.1109/tmech.2005.856108

Cited by 106 publications

(68 citation statements)

References 14 publications

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“…14,31,42-45 Pelrine et al 14 described a simple two phase micro-actuator consisting of a stretched film with two antagonistic electroded areas that can displace an output terminal and suggested that such stretched film actuators could find use in sub-millimeter micro-electromechanical systems. A similar concept was developed by Choi et al 44 for millimeter scale robotics: the ANTagonistic Linear Actuator (ANTLA). The flexible terminal, separating the two membranes, was used to impart force or movement, and this mechanism could actuate a multi-DOF robot that mimicked the inchworm, a creature that characteristically moves by bending its body in one plane.…”

Section: Multi-degree-of-freedom De Actuationmentioning

confidence: 99%

“…(1)), but it is also possible to control DE stiffness through charge control as demonstrated by Choi and co-workers with their robotic ANTLA mechanism. 44 Pelrine and Kornbluh 90 have produced an analytical expression for stiffness that relates work done on the DE to the increase in mechanical and electrical energy stored in the DE plus the incremental electrical energy flux from the DE. This assumes the system to be perfectly elastic with no electrical or mechanical energy losses.…”

Section: Mechano-sensitivity Cyber-proprioception Cyber-pain mentioning

confidence: 99%

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Multi-functional dielectric elastomer artificial muscles for soft and smart machines

Anderson

Gisby²,

McKay³

et al. 2012

Journal of Applied Physics

559

314

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Dielectric elastomer (DE) actuators are popularly referred to as artificial muscles because their impressive actuation strain and speed, low density, compliant nature, and silent operation capture many of the desirable physical properties of muscle. Unlike conventional robots and machines, whose mechanisms and drive systems rapidly become very complex as the number of degrees of freedom increases, groups of DE artificial muscles have the potential to generate rich motions combining many translational and rotational degrees of freedom. These artificial muscle systems can mimic the agonist-antagonist approach found in nature, so that active expansion of one artificial muscle is taken up by passive contraction in the other. They can also vary their stiffness. In addition, they have the ability to produce electricity from movement. But departing from the high stiffness paradigm of electromagnetic motors and gearboxes leads to new control challenges, and for soft machines to be truly dexterous like their biological analogues, they need precise control. Humans control their limbs using sensory feedback from strain sensitive cells embedded in muscle. In DE actuators, deformation is inextricably linked to changes in electrical parameters that include capacitance and resistance, so the state of strain can be inferred by sensing these changes, enabling the closed loop control that is critical for a soft machine. But the increased information processing required for a soft machine can impose a substantial burden on a central controller. The natural solution is to distribute control within the mechanism itself. The octopus arm is an example of a soft actuator with a virtually infinite number of degrees of freedom (DOF). The arm utilizes neural ganglia to process sensory data at the local “arm” level and perform complex tasks. Recent advances in soft electronics such as the piezoresistive dielectric elastomer switch (DES) have the potential to be fully integrated with actuators and sensors. With the DE switch, we can produce logic gates, oscillators, and a memory element, the building blocks for a soft computer, thus bringing us closer to emulating smart living structures like the octopus arm. The goal of future research is to develop fully soft machines that exploit smart actuation networks to gain capabilities formerly reserved to nature, and open new vistas in mechanical engineering.

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Section: Multi-degree-of-freedom De Actuationmentioning

confidence: 99%

Section: Mechano-sensitivity Cyber-proprioception Cyber-pain mentioning

confidence: 99%

Multi-functional dielectric elastomer artificial muscles for soft and smart machines

Anderson

Gisby²,

McKay³

et al. 2012

Journal of Applied Physics

559

314

View full text Add to dashboard Cite

show abstract

“…1 In addition to the capability of large deformation, DEs have other intrinsic attributes, such as light weight, high efficiency, low cost, noise free etc., which make them attractive for applications as transducers in artificial muscles, actuators and sensors, energy harvesters, soft robotics, adaptive optics etc. [2][3][4][5][6][7][8][9][10] To deform the DE transducers distinctly, usually, the required electric field is huge and the DE transducers commonly consist of thin, flat or cylindrical membranes. 1,10,11 As a consequence, the DE transducers may suffer from several modes of failure, such as electric break down, electromechanical instability, loss of tension, etc., which would degrade their performance.…”

Section: Introductionmentioning

confidence: 99%

Investigation on the viscoelastic behaviors of a circular dielectric elastomer membrane undergoing large deformation

Wang

2016

AIP Advances

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To explore the time-dependent dissipative behaviors of a circular dielectric elastomer membrane subject to force and voltage, a viscoelastic model is formulated based on the nonlinear theory for dissipative dielectrics. The circular membrane is attached centrally to a light rigid disk and then connected to a fixed rigid ring. When subject to force and voltage, the membrane deforms into an out-of plane shape, undergoing large deformation. The governing equations to describe the large deformation are derived by using energy variational principle while the viscoelasticity of the membrane is describe by a two-unit spring-dashpot model. The evolutions of the considered variables and the deformed shape are illustrated graphically. In calculation, the effects of the voltage and the pre-stretch on the electromechanical behaviors of the membrane are examined and the results show that they significantly influence the electromechanical behaviors of the membrane. It is expected that the present model may provide some guidelines in the design and application of such dielectric elastomer transducers.

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“…Among EAP actuators, dielectric elastomer actuators (DEAs) are considered to be the most promising because of their high strain and force outputs, easy fabrication, flexibility, light weight and low cost [2], [3]. DEAs in different modes and shapes have been used for many applications including robotics and mechatronics [4][5][6][7][8][9].…”

Section: Introductionmentioning

confidence: 99%

Modeling a soft robotic mechanism articulated with dielectric elastomer actuators

Nguyen

Alici

Mutlu

2014

2014 IEEE/ASME International Conference on Advanced Intelligent Mechatronics

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Mutlu, R. (2014). Modeling a soft robotic mechanism articulated with dielectric elastomer actuators. 2014 IEEE/ASME International Conference on Advanced Intelligent Mechatronics (AIM) (pp. 599-604). United States: Institute of Electrical and Electronics Engineers. Modeling a soft robotic mechanism articulated with dielectric elastomer actuators AbstractIn this paper, a translational actuation mechanism in the form of a parallel-crank mechanism (i.e. double-crank 4-bar mechanism) articulated with two dielectric elastomer actuators working in parallel are fabricated. This structure, which is a fully soft mechanism, is established by stretching a dielectric elastomer (DE) film over a PET (polyethylene terephthalate) frame so that the energy released from the stretched DE film is stored in the frame as bending energy. The mechanism generates a translational output under a driving voltage applied between two electrodes of the DE film. The visco-elastic models are proposed for the mechanism so that the mechanical properties of the actuator can more accurately be incorporated into the mechanism model. The proposed model accurately predicts the experimental frequency response of the mechanism at different voltages. Abstract-In this paper, a translational actuation mechanism in the form of a parallel-crank mechanism (i.e. double-crank 4-bar mechanism) articulated with two dielectric elastomer actuators working in parallel are fabricated. This structure, which is a fully soft mechanism, is established by stretching a dielectric elastomer (DE) film over a PET (polyethylene terephthalate) frame so that the energy released from the stretched DE film is stored in the frame as bending energy. The mechanism generates a translational output under a driving voltage applied between two electrodes of the DE film. The visco-elastic models are proposed for the mechanism so that the mechanical properties of the actuator can more accurately be incorporated into the mechanism model. The proposed model accurately predicts the experimental frequency response of the mechanism at different voltages.Index Terms-soft robotic mechanism, smart actuators, dielectric elastomer actuators.

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Biomimetic Soft Actuator: Design, Modeling, Control, and Applications

Cited by 106 publications

References 14 publications

Multi-functional dielectric elastomer artificial muscles for soft and smart machines

Multi-functional dielectric elastomer artificial muscles for soft and smart machines

Investigation on the viscoelastic behaviors of a circular dielectric elastomer membrane undergoing large deformation

Modeling a soft robotic mechanism articulated with dielectric elastomer actuators

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