Planar Modeling and Sim-to-Real of a Tethered Multimaterial Soft Swimmer Driven by Peano-HASELs

Gravert, Stephan-Daniel; Michelis, Mike Y.; Rogler, Simon; Tscholl, Dario; Büchner, Thomas; Katzschmann, Robert K.

doi:10.1109/iros47612.2022.9981192

Cited by 5 publications

(3 citation statements)

References 49 publications

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“…The concept of encapsulation, shown in examples b) and f), is used to encapsulate bio-sensors with active materials, e.g., to achieve self-cleaning surfaces [33]. Pre-streched antagonistic active materials in composites (example c)) are used, e.g., to build fish-like robots with Dielectric Elastomer Actuators [34] or Peano-HASEL actuators [35]. The concept is also especially useful for antagonists from shape memory materials [36].…”

Section: Selected Stiffness Combinationsmentioning

confidence: 99%

Stiffness pairing in soft‐hard active‐passive actuators

Ehrenhofer

2023

Proc Appl Math and Mech

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Soft-Hard Active-Passive Embedded Structures (SHAPES) are composites that respond to the environments in which they are embedded. This reaction can be a mechanical actuation, but also an intrinsic computation that yields an adaptation as a result. The actuation capabilities primarily depend on the stiffness combination of the involved materials. Stiffness includes both material parameters (depending on the chosen material model, e.g., the Young's modulus) and geometry parameters (depending on the type of structure, e.g., the beam height). The active properties can be included using the Stimulus Expansion Model, which is based on the analogy of the active reponse to thermal expansion. SHAPES can be designed according to three different behaviors, Case I constrained, Case II combined and Case III free. In the current work, these cases, the modelling and design background, and various examples are presented.

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Section: Selected Stiffness Combinationsmentioning

confidence: 99%

Stiffness pairing in soft‐hard active‐passive actuators

Ehrenhofer

2023

Proc Appl Math and Mech

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“…Soft material robots include robots with a motor and a soft body [ 7 ], robots with a motor/wire mechanism and a soft body [ 8 , 9 , 10 ], and robots with a tensegrity mechanism that allows the rigidity of the body to be set to an arbitrary value at each body length position [ 11 , 12 ]. Meanwhile, robots have been developed using soft actuators such as pneumatic and hydrodynamic actuators that deform by fluid pressure [ 13 , 14 ]; shape memory alloys (SMA) that shorten by heating [ 15 , 16 , 17 , 18 ]; and piezoelectric composite fiber [ 19 ], dielectric elastomer actuators (DEA) [ 20 , 21 ], and hydraulically amplified self-healing electrostatic (HASEL) actuators [ 22 ] that deform by applying a voltage.…”

Section: Introductionmentioning

confidence: 99%

Biomimetic Soft Underwater Robot Inspired by the Red Muscle and Tendon Structure of Fish

et al. 2023

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Underwater robots are becoming increasingly important in various fields. Fish robots are attracting attention as an alternative to the screw-type robots currently in use. We developed a compact robot with a high swimming performance by mimicking the anatomical structure of fish. In this paper, we focus on the red muscles, tendons, and vertebrae used for steady swimming of fish. A robot was fabricated by replacing the red muscle structure with shape memory alloy wires and rigid body links. In our previous work, undulation motions with various phase differences and backward quadratically increasing inter-vertebral bending angles were confirmed in the air, while the swimming performance in insulating fluid was poor. To improve the swimming performance, an improved robot was designed that mimics the muscle contractions of mackerel using a pulley mechanism, with the robot named UEC Mackerel. In swimming experiments using the improved robot, a maximum swimming speed of 25.8 mm/s (0.11 BL/s) was recorded, which is comparable to that of other soft-swimming robots. In addition, the cost of transport (COT), representing the energy consumption required for robot movement, was calculated, and a minimum COT of 0.08 was recorded, which is comparable to that of an actual fish.

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“…This pursuit has led to the development of a novel class of actuators that combine the robustness of traditional hydraulic systems with the flexibility and responsiveness of electrostatics. HASEL actuators are a promising technology with potential applications in robotics, prosthetics, haptic interfaces, and other fields due to their flexibility, self-healing capabilities, and energy efficiency [7][8][9][10][11][12][13].…”

Section: Introductionmentioning

confidence: 99%

Derivation of Ultra-High Gain Hybrid Converter Families for HASEL Actuators Used in Soft Mobile Robots

Lodh,

2023

Biomimetics

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This work proposes, analyzes, designs, and validates superior topologies of UHGH converters that are capable of supporting extremely large conversion ratios up to ∼2000× and output voltage up to ∼4–12 kV for future mobile soft robots from an input voltage as low as the range of a 1-cell battery pack. Thus, the converter makes soft robots standalone systems that can be untethered and mobile. The extremely large voltage gain is enabled by a unique hybrid combination of a high-gain switched magnetic element (HGSME) and a capacitor-based voltage multiplier rectifier (CVMR) that, together, achieve small overall size, efficient operation, and output voltage regulation and shaping with simple duty-cycle modulation. With superior performance, power density, and compact size, the UHGH converters prove to be a promising candidate for future untethered soft robots.

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Planar Modeling and Sim-to-Real of a Tethered Multimaterial Soft Swimmer Driven by Peano-HASELs

Cited by 5 publications

References 49 publications

Stiffness pairing in soft‐hard active‐passive actuators

Stiffness pairing in soft‐hard active‐passive actuators

Biomimetic Soft Underwater Robot Inspired by the Red Muscle and Tendon Structure of Fish

Derivation of Ultra-High Gain Hybrid Converter Families for HASEL Actuators Used in Soft Mobile Robots

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