Robotic jellyfish actuated with a shape memory alloy spring

Kazemi-Lari, Mohammad A.; Dostine, Anthony D.; Zhang, Jiadi; Wineman, Alan S.; Shaw, John A.

doi:10.1117/12.2513456

Cited by 16 publications

(14 citation statements)

References 11 publications

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“…Scale bar, 5 cm. (D) Comparison of v and the CoT between the HASEL jellyfish robot and other jellyfish-like robots that have been reported in the literature (14,15,(17)(18)(19)(20). The HASEL jellyfish robot achieved the fastest propulsion v = 0.4 BL/s (body length per second) and had a relatively low CoT.…”

Section: Fig 2 Experimental Optimization Of a Single Joint And Propul...mentioning

confidence: 99%

A versatile jellyfish-like robotic platform for effective underwater propulsion and manipulation

et al. 2023

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Underwater devices are critical for environmental applications. However, existing prototypes typically use bulky, noisy actuators and limited configurations. Consequently, they struggle to ensure noise-free and gentle interactions with underwater species when realizing practical functions. Therefore, we developed a jellyfish-like robotic platform enabled by a synergy of electrohydraulic actuators and a hybrid structure of rigid and soft components. Our 16-cm-diameter noise-free prototype could control the fluid flow to propel while manipulating objects to be kept beneath its body without physical contact, thereby enabling safer interactions. Its against-gravity speed was up to 6.1 cm/s, substantially quicker than other examples in literature, while only requiring a low input power of around 100 mW. Moreover, using the platform, we demonstrated contact-based object manipulation, fluidic mixing, shape adaptation, steering, wireless swimming, and cooperation of two to three robots. This study introduces a versatile jellyfish-like robotic platform with a wide range of functions for diverse applications.

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Section: Fig 2 Experimental Optimization Of a Single Joint And Propul...mentioning

confidence: 99%

A versatile jellyfish-like robotic platform for effective underwater propulsion and manipulation

et al. 2023

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“…For instance, Huang et al [50] proposed actuators which can be used as "artificial muscle" for variety of soft robotic systems which can have fast locomotion in dynamic condition. In [51], authors demonstrated a new approach in designing of a jellyfish using SMA springs as artificial muscles which imitates morphology and kinematics of an actual animal.…”

Section: Introductionmentioning

confidence: 99%

Analysis of One-Dimensional Ivshin–Pence Shape Memory Alloy Constitutive Model for Sensitivity and Uncertainty

Islam

Karadoğan

2020

Materials

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Shape memory alloys (SMAs) are classified as smart materials due to their capacity to display shape memory effect and pseudoelasticity with changing temperature and loading conditions. The thermomechanical behavior of SMAs has been simulated by several constitutive models that adopted microscopic thermodynamic or macroscopic phenomenological approaches. The Ivshin–Pence model is one of the most popular SMA macroscopic phenomenological constitutive models. The construction of the model requires involvement of parameters that possess inherent uncertainty. Under varying operating temperatures and loading conditions, the uncertainty in these parameters propagates and, therefore, affects the predictive power of the model. The propagation of uncertainty while using this model in real-life applications can result in performance discrepancies or failure at extreme conditions. In this study, we employed a probabilistic approach to perform the sensitivity and uncertainty analysis of the Ivshin–Pence model. Sobol and extended Fourier Amplitude Sensitivity Testing (eFAST) methods were used to perform the sensitivity analysis for simulated isothermal loading/unloading at various operating temperatures. It is evident that the model’s prediction of the SMA stress–strain curves varies due to the change in operating temperature and loading condition. The average and stress-dependent sensitivity indices present the most influential parameters at several temperatures.

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“…All results hitherto indicate that SMA components enable tailored structural properties in cyclic applications. Previous studies have aspired to develop various potential engineered systems mimicking biological counterparts and specifically have implemented SMA components in biomimetic jellyfish [ 34 , 35 ], birds [ 26 , 36 ], earthworms [ 37 ], human-like anatomical systems [ 38 ], and others. However, previous studies did not explore the multifunctional potential of SMA components as inspired by natural musculoskeletal systems.…”

Section: Resultsmentioning

confidence: 99%

Phase transformation-driven artificial muscle mimics the multifunctionality of avian wing muscle

Leal

Cabral-Seanez

Baliga

et al. 2021

J. R. Soc. Interface.

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Skeletal muscle provides a compact solution for performing multiple tasks under diverse operational conditions, a capability lacking in many current engineered systems. Here, we evaluate if shape memory alloy (SMA) components can serve as artificial muscles with tunable mechanical performance. We experimentally impose cyclic stimuli, electric and mechanical, to an SMA wire and demonstrate that this material can mimic the response of the avian humerotriceps, a skeletal muscle that acts in the dynamic control of wing shapes. We next numerically evaluate the feasibility of using SMA springs as artificial leg muscles for a bipedal walking robot. Altering the phase offset between mechanical and electrical stimuli was sufficient for both synthetic and natural muscle to shift between actuation, braking and spring-like behaviour.

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Robotic jellyfish actuated with a shape memory alloy spring

Cited by 16 publications

References 11 publications

A versatile jellyfish-like robotic platform for effective underwater propulsion and manipulation

A versatile jellyfish-like robotic platform for effective underwater propulsion and manipulation

Analysis of One-Dimensional Ivshin–Pence Shape Memory Alloy Constitutive Model for Sensitivity and Uncertainty

Phase transformation-driven artificial muscle mimics the multifunctionality of avian wing muscle

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