Electroactive Polymers as Artificial Muscles: Capabilities, Potentials and Challenges

Bar‐Cohen, Yoseph

doi:10.1061/40476(299)24

Cited by 127 publications

(113 citation statements)

References 31 publications

(2 reference statements)

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“…Under a potential difference of less than 3-V, these IPMC materials are capable of bending beyond a complete loop. A unique ~100-mg blade with fiberglass brush was developed by ESLI (San Diego, CA) and subjected to a high voltage to repel dust, augmenting the brushing mechanism provided by the blade [12]. …”

Section: F Robotic Facementioning

confidence: 99%

Modeling and Utilization of an Ipmc Muscle

Atieh¹

2014

IJNCAA

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Abstract-Artificial muscles are one of the most important applications of the technology of flexible structure, designed to imitate human or animal muscles and to monitor its activities and conditions. The aim of our paper is to study the different possibilities of modeling and usage of artificial muscles. Our application is based on three IPMC muscles used to simulate a three fingers grasp. The magnitude of the voltage is utilized to compute the buildup columbic load using the capacitor block in the model.

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Section: F Robotic Facementioning

confidence: 99%

Modeling and Utilization of an Ipmc Muscle

Atieh¹

2014

IJNCAA

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“…However, the response rate is not notable and there is a need to maintain their wetness. Dielectric elastomer actuators (DEAs) are one of the most studied EAP actuators and numerous applications are being developed including electroactive fluid pumps, conformal skins for Braille screens and insect-like robots [11][12][13]. However, the challenge for this type of actuators is their use of a high voltage (>1kV) due to the high electric fields that are needed (~100V/μm).…”

Section: Introductionmentioning

confidence: 99%

PVC gel based artificial muscles: Characterizations and actuation modular constructions

Hashimoto

2015

Sensors and Actuators A: Physical

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Polymer materials based artificial muscles have the properties of being soft, lightweight and flexible which are similar to the nature muscular actuators. In our previous study, we have developed a contraction type artificial muscle based on plasticized poly vinyl chloride (PVC) gel and meshed electrodes. And we have improved the characteristics to make it close to the level of natural muscle. It has many positive characteristics, such as stable actuation in the air, high output, notable response rate and low power consumption. So a wide application is expected. However, for practical applications, it is necessary to consider some specific criteria, such as performance criteria and structural criteria. In this study, we introduced the most updated properties of PVC gel artificial muscles and proposed three types of mechanical actuation modular constructions for making the PVC gel artificial muscle as a robust actuation device for robotics and mechatronics. And we tested a prototype to examine the effectiveness of the proposed modules. Finally, an analytical model for the static characteristics of PVC gel artificial muscles at different applied voltages was derived and showed good agreement with experimental results measured by a prototype of modules.

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“…The main limit on using this actuation technology is represented by the low capability of miniaturization without a dramatic decrease of mechanical performance. Electro Active Polymers (EAP) are also a viable way of approaching miniaturization, but ionic EAP actuation velocity does not meet the usual timescale needed for surgical operations (Ionic Polimer Metal Composite based fingers in [2]); on the other hand, the high electric fields necessary for the electric EAP (the Dielectric Elastomer Minimum Energy Structure in [1]) do not allow a straightforward use of these technologies. A comparison between the reviewed existing soft robotic grippers and the system proposed in this work is presented in Table 1.…”

Section: Introductionmentioning

confidence: 99%

Design and development of a soft robotic gripper for manipulation in minimally invasive surgery: a proof of concept

et al. 2015

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This paper proposes the use of soft materials for building robotic grippers for delicate and safe interactions. The work includes concept design, fabrication and first assessment and characterization of the proposed soft gripper, a novel robotic end-effector entirely made up of elastomeric material. As a significant case study, it has been specifically adapted as a grasping tool in Minimally Invasive Surgery, but its design has been conceived in such a way that its dimension can be easily scaled, to find application in all those fields where a safe interaction with fragile items or human co-workers is needed. Moreover, the process is flexible for including further features to enrich its behaviour.

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Electroactive Polymers as Artificial Muscles: Capabilities, Potentials and Challenges

Cited by 127 publications

References 31 publications

Modeling and Utilization of an Ipmc Muscle

Modeling and Utilization of an Ipmc Muscle

PVC gel based artificial muscles: Characterizations and actuation modular constructions

Design and development of a soft robotic gripper for manipulation in minimally invasive surgery: a proof of concept

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