Magneto-Active Elastomer Filter for Tactile Sensing Augmentation Through Online Adaptive Stiffening

Costi, Leone; Tagliabue, Arturo; Maiolino, Perla; Clemens, Frank; Iida, Fumiya

doi:10.1109/lra.2022.3160590

Cited by 5 publications

(5 citation statements)

References 32 publications

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“…A wrinkled soft tactile sensor with tunable morphology and stiffness was developed, demonstrating the potential of maximizing sensor performance by adapting morphology in a specific task, such as force sensing, shape discrimination, and texture detection [33,34]. Costi et al proposed a magneto-active elastomer filter for online stiffness tuning by placing a magnet on the endeffector, indicating an increased classification accuracy with adaptive stiffening [35]. Phasechanging material such as granular jamming can also be used as an online tunable mechanical filter when placed over a tactile sensor [36].…”

Section: Sensor Adaptationmentioning

confidence: 99%

Embodied Active Tactile Perception

He,

Maiolino

2023

IOP Conf. Ser.: Mater. Sci. Eng.

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Tactile perception plays an important role in an agent safely interacting with the environment while acquiring information about it. Bio-inspired robotics opens up possibilities for a new paradigm leveraging the morphology of the body, which filters the tactile information in physical interactions and enables investigations of new designs for embodied active tactile perception. The subjects of morphology embodied active perception and motor embodied active perception is defined and discussed in this chapter. In the scope of morphology embodied active perception, sensor optimization and sensor adaptation are further defined to describe the change of sensor morphology in the design phase and the interacting phase, respectively. More specifically, the concept of online and offline sensor adjustment is presented. Sensor optimization is solely considered in the offline process for optimization and evolution design of the sensor structure and characteristics. Sensor adaptation and motor embodied active perception are considered in the online process to actively shape the sensing process with the morphology change of the sensors themselves and the action of the body where the sensors are placed, respectively. “Design as a whole” is proposed as an inverse problem to address the sensing tasks. The design of new tactile sensors should not focus on the sensor per se but should also include design parameters for sensor optimization, sensor adaptation, and motor actions.

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Section: Sensor Adaptationmentioning

confidence: 99%

Embodied Active Tactile Perception

He,

Maiolino

2023

IOP Conf. Ser.: Mater. Sci. Eng.

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“…Features of MAEs include continuous tunability (via electronic control), remote activation due to the nature of magnetism, and flexibility from the elastomer matrix. Researchers in civil, mechanical and biomedical engineering are investigating applications for MAEs, such as tuned vibration absorbers [2][3][4], vibration isolators [5][6][7], sensors [8][9][10], and actuators [11][12][13].…”

Section: Introductionmentioning

confidence: 99%

Meso‐scale thermo‐magneto‐mechanical constitutive model for magneto‐active elastomers

Klausler,

Kaliske

2023

Proc Appl Math and Mech

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Magneto‐active elastomers (MAE) are one of many emerging smart materials. They have applications in mechanical, civil and biomedical engineering as actuators, such as grippers, and dampers, such as tunable vibration absorbers. MAE consist of a soft polymeric matrix filled with micron‐sized magnetizable particles. Set in a magnetic field, the particles displace, stiffening the entire composite by up to three orders of magnitude.The literature contains myriad purely magneto‐mechanical models for MAE. This contribution introduces a thermal component to enable prediction of heat generation in the composite due to oscillatory, visco‐elastic mechanical deformations. This model, formulated for three‐dimensional finite deformations, is capable of accurately modeling the behavior of incompressible materials through a Q1P0 finite element framework. Numerical simulations qualitatively show the capabilities of this model to describe the fully‐coupled thermo‐magneto‐mechanical response of MAE.

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“…In recent years, however, MREs' performance under large deformations [19] has captured the attention of the soft robotics community [20] and they have been utilized as actuators for a wide range of tasks: shape-morphing, [21] locomotion, [22,23] grasping, [24] and tunable mechanical filtering. [25,26] MREs can further showcase sensing behavior and serve as force and strain sensors, especially when a second conductive filler is used. [27,28] This hybrid filler concept results in an MRE with combined magnetorheological and piezoresistive effects, which lead to a sensor that can sense both the change in the magnetic field or mechanical load based on the change in electrical resistance, called magnetoresistors.…”

Section: Introductionmentioning

confidence: 99%

Section: Introductionmentioning

confidence: 99%

3D Printable Self‐Sensing Magnetorheological Elastomer

Costi,

Georgopoulou,

Mondal

et al. 2023

Macro Materials & Eng

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Magnetorheological elastomers (MREs) are a category of smart materials composed of a magnetic powder dispersed in an elastomeric matrix. They are characterized by the ability to change their mechanical properties when an external magnetic field is applied, called magnetorheological (MR) effect. When a conductive filler is added to a magnetorheological elastomer, the resulting hybrid filler composite showcases both MR and piezoresistive effects. For such a reason, these composites are referred to as self‐sensing magnetorheological elastomers. In this case, the synthesized self‐sensing magnetorheological elastomers are based on styrene‐based thermoplastic elastomers (TPS), carbonyl iron particles (CIP), and carbon black (CB). The hybrid filler concept using various coated CIP and constant CB content showed that above 25 vol.% CIP the resistivity increased rapidly. This work proposes the first case of a 3D printable self‐sensing magnetorheological elastomer and cyclic mechanical compression and tensile mode analysis at high deformation (up to 20% and 10%, respectively). The results showcase a magnetoresistive change of up to 68% and a piezoresistive change of up to 42% and 98% in compression and tension, respectively. In addition, the magnetostriction of the self‐sensing samples has been characterized to be 3.6% and 5.6% in the case of CIP 15 and 30 vol.%, respectively.

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Magneto-Active Elastomer Filter for Tactile Sensing Augmentation Through Online Adaptive Stiffening

Cited by 5 publications

References 32 publications

Embodied Active Tactile Perception

Embodied Active Tactile Perception

Meso‐scale thermo‐magneto‐mechanical constitutive model for magneto‐active elastomers

3D Printable Self‐Sensing Magnetorheological Elastomer

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