Experiments of a variable stiffness robot using shape memory gel

Yamano, Mitsuhiro; Goto, Daisuke; Ujiie, Kenji; Akiba, Naoki; Gong, Jin; Furukawa, Hidemitsu; Tadakuma, Riichiro

doi:10.1109/sii.2013.6776701

Cited by 7 publications

(3 citation statements)

References 14 publications

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“…A number of heat sources, including light illumination, electric current, and a hot saline solution, have been proposed for the SMP [9][10][11][12]. Joule heat is used for robotic applications of shape-memory materials such as shape-memory alloy and gel [16,17]. We attempted to form a uniform thin SMP sheet without air bubbles using a heat press.…”

Section: (1) Heating Methodsmentioning

confidence: 99%

Pneumatic artificial rubber muscle using shape-memory polymer sheet with embedded electrical heating wire

Takashima¹,

Sugitani²,

Morimoto³

et al. 2014

Smart Mater. Struct.

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Shape-memory polymer (SMP) can be deformed by applying a small load above its glass transition temperature (T g). Shape-memory polymer maintains its shape after it has cooled below T g and returns to a predefined shape when subsequently heated above T g. The reversible change in the elastic modulus between the glassy and rubbery states of an SMP can be on the order of several hundred times. Based on the change in stiffness of the SMP in relation to the change in temperature, the present study attempts to evaluate the application of the SMP to soft actuators of a robot. In order to control the temperature of the SMP, we developed an SMP sheet with an embedded electrical heating wire. We formed a uniform, thin SMP sheet without air bubbles using a heat press. The SMP sheet with a heating wire can be heated quickly and can be maintained at a constant temperature. Moreover, the effects of the embedded wire on the mechanical properties in bending and tensile tests were small. Then, we applied the SMP sheet with the embedded electrical heating wire to a pneumatic artificial rubber muscle. The enhanced versatility of SMP sheet applications is demonstrated through a series of experiments conducted using a prototype. The initial shape and bending displacement of the pneumatic artificial rubber muscle can be changed by controlling the temperature of the SMP sheet.

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Section: (1) Heating Methodsmentioning

confidence: 99%

Pneumatic artificial rubber muscle using shape-memory polymer sheet with embedded electrical heating wire

Takashima¹,

Sugitani²,

Morimoto³

et al. 2014

Smart Mater. Struct.

View full text Add to dashboard Cite

show abstract

“…The heat transmission can be performed by using a water flow [38,39], air [61], Joule losses [13,62] or magnetic induction [57]. Conducting polymers actuated with low voltages (<1 V) are used to develop a new catheter in [154].…”

Section: Methodsmentioning

confidence: 99%

“…Shape Memory Gel (SMG) is used in links of a robot, switching between flexible links (hot SMG) and rigid links (cold SMG) [61,62]. The change of stiffness in SMP is obtained around the glass transition temperature T g , while it is obtained around the crystallization temperature for SMG.…”

Section: Methodsmentioning

confidence: 99%

Flexible Medical Devices: Review of Controllable Stiffness Solutions

2017

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Abstract:In the medical field and in soft robotics, flexible devices are required for safe human interaction, while rigid structures are required to withstand the force application and accuracy in motion. This paper aims at presenting controllable stiffness mechanisms described in the literature for applications with or without shape-locking performances. A classification of the solutions based on their working principle is proposed. The intrinsic properties of these adaptive structures can be modified to change their mechanical characteristics from a geometrical point of view or equivalent elastic properties (with internal mechanisms or with a change in material properties). These solutions are compared quantitatively, based on selected criteria linked to the medical field as the stiffness range, the activation time and the working conditions. Depending on the application and its requirements, the most suitable solution can be selected following the quantitative comparisons. Several applications of these tunable stiffness structures are proposed and illustrated by examples of the literature.

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Transparency of Temperature-responsive Shape-memory Gels Tuned by a Competition between Crystallization and Glass Transition

Wang

Gong

2020

Chin J Polym Sci

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Experiments of a variable stiffness robot using shape memory gel

Cited by 7 publications

References 14 publications

Pneumatic artificial rubber muscle using shape-memory polymer sheet with embedded electrical heating wire

Pneumatic artificial rubber muscle using shape-memory polymer sheet with embedded electrical heating wire

Flexible Medical Devices: Review of Controllable Stiffness Solutions

Transparency of Temperature-responsive Shape-memory Gels Tuned by a Competition between Crystallization and Glass Transition

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