iGrab: hand orthosis powered by twisted and coiled polymer muscles

Saharan, Lokesh; Andrade, Mário de; Saleem, Wahaj; Baughman, Ray H.; Tadesse, Yonas

doi:10.1088/1361-665x/aa8929

Cited by 66 publications

(50 citation statements)

References 65 publications

(75 reference statements)

Supporting

Mentioning

Contrasting

Unclassified

Order By: Relevance

“…With this solution, the system is capable of put up with real objects, lifting them without opening the limbs with the force generated by the weight. This is an important fact, because state of art muscles do have large limitations in terms of payload capabilities [13].…”

Section: Bio-inspired Muscle-antagonist Configurationmentioning

confidence: 99%

“…Finally, it is worth mentioning that the work on this TCP done for these last 5 years have centered their efforts in developing models of the muscles behavior [1]. For proving their utility, several robotic arms have been developed [5,20,13], and also hybrid small robots like [19]. Despite this, all the models mentioned do not bring in a real application for them, offering only functional proof of concept.…”

Section: Introductionmentioning

confidence: 99%

See 1 more Smart Citation

TCP Muscle Tensors: Theoretical Analysis and Potential Applications in Aerial Robotic Systems

Gomez-Tamm

Soria

Arrue

et al. 2019

Advances in Intelligent Systems and Computing

View full text Add to dashboard Cite

The use of aerial systems in a variety of real applications is increasing nowadays. These offer solutions to existing problems in ways that have never seen before thanks to their capability to perform perching, grasping or manipulating in inaccessible or dangerous places. Many of these applications require small-sized robots that can maneuver in narrow environments. However, these are required to have also strength enough to perform the desired tasks. This balance is sometimes unreachable due to the fact that traditional servomotors are too heavyweight for being carried by such small unmanned aerial systems (UAS). This paper, offers a innovative solution based on twisted and coiled polymers (TCP) muscles. These tensors have a high weight/strength ratio (up to 200 times) compared with traditional servos. In this work, the practical and modeling work done by the authors is presented. Then, a preliminary design of a bio-inspired claw for an unmanned aerial system (UAS) is shown. This claw has been developed using additive manufacturing techniques with different materials. Actuated with TCP, it is intrinsically compliant and offers a great force/weight ratio.

show abstract

Section: Bio-inspired Muscle-antagonist Configurationmentioning

confidence: 99%

Section: Introductionmentioning

confidence: 99%

TCP Muscle Tensors: Theoretical Analysis and Potential Applications in Aerial Robotic Systems

Gomez-Tamm

Soria

Arrue

et al. 2019

Advances in Intelligent Systems and Computing

View full text Add to dashboard Cite

show abstract

“…TCP muscles are fabricated by twisting fibers under a particular load and then coiling them together. Such a composite must then be annealed and trained to keep the form of the shape [117,160]. Parameters such as a high power-to-weight ratio, elasticity, and cheap and easy fabrication make them a prospective solution in robotic applications [145].…”

Section: Actuator Typesmentioning

confidence: 99%

Artificial-Hand Technology—Current State of Knowledge in Designing and Forecasting Changes

Szkopek

Redlarski

2019

Applied Sciences

View full text Add to dashboard Cite

The subject of human-hand versatility has been intensively investigated for many years. Emerging robotic constructions change continuously in order to mimic natural mechanisms as accurately as possible. Such an attitude is motivated by the demand for humanoid robots with sophisticated end effectors and highly biomimic prostheses. This paper provides wide analysis of more than 80 devices that have been created over the last 40 years. It compares both the mechanical structure and various actuators from conventional DC motors and servomechanisms, through pneumatic muscles, to soft actuators and artificial muscles. Described measured factors include angles, forces, torques, tensions, and tactiles. Furthermore, the appropriate statistics of kinematic configuration, as well as the type or number of drive units and sensory systems, show not only recent problems, but also trends that will be followed in the future.

show abstract

“…In theory, low‐profile and high PWR artificial muscles could replicate the full range of motion, grip types, and strengths of the hand. Recent demonstrations of artificial muscle powered robotic hands highlight the need for improved actuator materials, fabrication strategies, and control processes. In fact, biomimetic actuators are yet to be developed that match all of the features of natural muscle including large stroke, high speed, efficiency, long operating life, silent operation, and safety for use in human contact.…”

Section: Introductionmentioning

confidence: 99%

Advanced Actuator Materials Powered by Biomimetic Helical Fiber Topologies

Spinks

2019

Advanced Materials

View full text Add to dashboard Cite

where conventional mechanical drive systems, such as electric motors, are too large or too heavy. [13] Natural skeletal muscle is often used as a benchmark for comparing and evaluating synthetic artificial muscles. The three key attributes of any actuator are the force generated, the amount of movement produced, and the time taken to complete a full actuation cycle. Skeletal muscle, e.g., generates a blocked stress of ≈0.3 MPa, free strain of ≈20%, responds in ≈0.1 s, and has a density of 1037 kg m −3 . Combining these parameters gives a reasonable estimate of the peak powerto-weight ratio (PWR) for muscle at ≈300 W kg −1 . [14] The PWR for conventional motors, engines, and other actuators covers a wide range (1-10 4 W kg −1 ), and there is a rough scaling between weight and PWR. This scaling means that small motors are less powerful and at sizes of less than a few tens of grams, muscle outperforms any available engine or motor. This limitation is currently hampering the development of many needed technologies. For example, the current state-of-the-art, motor-driven prosthetic hands are impressive but still do not match the dexterity of a healthy human. In theory, low-profile and high PWR artificial muscles could replicate the full range of motion, grip types, and strengths of the hand. Recent demonstrations of artificial muscle powered robotic hands [15] highlight the need for improved actuator materials, fabrication strategies, and control processes. In fact, biomimetic actuators are yet to be developed that match all of the features of natural muscle including large stroke, high speed, efficiency, long operating life, silent operation, and safety for use in human contact. Great progress has been made in the development of artificial muscles, and the most recent significant example of twisted and coiled polymer fibers [16] exploits a helical fiber topology that has a similarity with many constructs found in nature. Helices are a recurring feature in many of nature's actuators, which poses the question of whether the helix introduces any particular mechanical advantage.The helix is a striking and ubiquitous feature in biology [17] with several examples illustrated in Figure 1. The double stranded DNA molecule is probably the most famous helix (or double helix), but similar structures pervade biology at all length scales from molecular to the macroscopic. Many protein molecules adopt an alpha-helix conformation and assemble into helical filaments, such as the thin filament in skeletal muscle.Helical constructs are ubiquitous in nature at all size domains, from molecular to macroscopic. The helical topology confers unique mechanical functions that activate certain phenomena, such as twining vines and vital cellular functions like the folding and packing of DNA into chromosomes. The understanding of active mechanical processes in plants, certain musculature in animals, and some biochemical processes in cells provides insight into the versatility of the helix. Most of these natural systems consist of helically orien...

show abstract

iGrab: hand orthosis powered by twisted and coiled polymer muscles

Cited by 66 publications

References 65 publications

TCP Muscle Tensors: Theoretical Analysis and Potential Applications in Aerial Robotic Systems

TCP Muscle Tensors: Theoretical Analysis and Potential Applications in Aerial Robotic Systems

Artificial-Hand Technology—Current State of Knowledge in Designing and Forecasting Changes

Advanced Actuator Materials Powered by Biomimetic Helical Fiber Topologies

Contact Info

Product

Resources

About