Robust and Adaptive Sampled-Data Control of Twisted and Coiled Artificial Muscles

Hammond, Maxwell; Cichella, Venanzio; Weerakkody, Thilina H.; Lamuta, Caterina

doi:10.1109/lcsys.2021.3091414

Cited by 9 publications

(2 citation statements)

References 73 publications

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“…In previous works we proposed a displacement feedback controller with a temperature observer for Twisted and Coiled Artificial Muscles (TCAMs). 56 , 57 , 58 …”

Section: Methodsmentioning

confidence: 99%

Deployable vortex generators for low Reynolds numbers applications powered by cephalopods inspired artificial muscles

Mamman,

Kotak,

Weerakkody

et al. 2023

iScience

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“…In previous works we proposed a displacement feedback controller with a temperature observer for Twisted and Coiled Artificial Muscles (TCAMs). 56 , 57 , 58 …”

Section: Methodsmentioning

confidence: 99%

Deployable vortex generators for low Reynolds numbers applications powered by cephalopods inspired artificial muscles

Mamman,

Kotak,

Weerakkody

et al. 2023

iScience

Self Cite

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“…A visual representation of this actuation can be seen in Figure 8 . This validation is focused on the reliability of PCC modeling techniques for system pose feedback in the absences of more direct measurements and it should be noted that more specialized control methodologies like the one presented in Hammond et al (2021) could be used to better regulate the behavior of the system and ensure safe and desired behavior from TCAM actuation.…”

Section: Gripper Deflection and Actuation Systemmentioning

confidence: 99%

A hybrid soft material robotic end-effector for reversible in-space assembly of strut components

et al. 2023

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Based on the NASA in-Space Assembled Telescope (iSAT) study (Bulletin of the American Astronomical Society, 2019, 51, 50) which details the design and requirements for a 20-m parabolic in-space telescope, NASA Langley Research Center (LaRC) has been developing structural and robotic solutions to address the needs of building larger in-space assets. One of the structural methods studied involves stackable and collapsible modular solutions to address launch vehicle volume constraints. This solution uses a packing method that stacks struts in a dixie-cup like manner and a chemical composite bonding technique that reduces weight of the structure, adds strength, and offers the ability to de-bond the components for structural modifications. We present in this paper work towards a soft material robot end-effector, capable of suppling the manipulability, pressure, and temperature requirements for the bonding/de-bonding of these conical structural components. This work is done to investigate the feasibility of a hybrid soft robotic end-effector actuated by Twisted and Coiled Artificial Muscles (TCAMs) for in-space assembly tasks. TCAMs are a class of actuator which have garnered significant recent research interest due to their allowance for high force to weight ratio when compared to other popular methods of actuation within the field of soft robotics, and a muscle-tendon actuation design using TCAMs leads to a compact and lightweight system with controllable and tunable behavior. In addition to the muscle-tendon design, this paper also details the early investigation of an induction system for adhesive bonding/de-bonding and the sensors used for benchtop design and testing. Additionally, we discuss the viability of Robotic Operating System 2 (ROS2) and Gazebo modeling environments for soft robotics as they pertain to larger simulation efforts at LaRC. We show real world test results against simulation results for a method which divides the soft, continuous material of the end-effector into discrete links connected by spring-like joints.

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Fouling Release Mechanism of an Octopus‐Inspired Smart Skin

Mamman,

Johnson,

Weerakkody

et al. 2024

Adv Funct Materials

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This work proposes an octopus‐inspired smart skin for fouling release. The skin consists of twisted spiral artificial muscles (TSAMs) embedded between two layers of elastomer. Upon electro‐thermal actuation, TSAMs undergo vertical displacement (similarly to octopus’ papillae dermal muscles) and mechanically deform the top layer of the skin where the biofilm is attached. The release is achieved by generating a critical strain on the skin's top layer. In this paper, a physics‐based mechanical model is proposed to describe the fouling release mechanism of the smart skin. The model relates the critical strain to the mechanical properties of the biofilm, as well as the mechanical and electro‐thermal properties of the TSAMs. The model is experimentally validated, and a robust controller is implemented to achieve the desired critical strain and then perform release for two different types of biofilms: bacterial‐based Escherichia coli and diatom‐based Amphora coffeaeformis.

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Robust and Adaptive Sampled-Data Control of Twisted and Coiled Artificial Muscles

Cited by 9 publications

References 73 publications

Deployable vortex generators for low Reynolds numbers applications powered by cephalopods inspired artificial muscles

Deployable vortex generators for low Reynolds numbers applications powered by cephalopods inspired artificial muscles

A hybrid soft material robotic end-effector for reversible in-space assembly of strut components

Fouling Release Mechanism of an Octopus‐Inspired Smart Skin

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