Self-Sensing of Deflection, Force, and Temperature for Joule-Heated Twisted and Coiled Polymer Muscles via Electrical Impedance

Weijde, Joost van der; Smit, Bram de; Fritschi, Michael; Kamp, Cornelis van de; Vallery, Heike

doi:10.1109/tmech.2016.2642588

Cited by 59 publications

(31 citation statements)

References 27 publications

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“…3 (b), where the artificial muscle becomes a spiral line conductor with a length of the thread and has a maximum electrical resistance. The characteristic with an S-shaped nonlinearity readily invalidates the linear relationship between the elongation and electrical resistance assumed in the literature [17], [18].…”

Section: Resultsmentioning

confidence: 81%

“…Although thermo-mechanical aspects of the supercoiled artificial muscle are well documented, most researchers assume the constant electrical resistance during the operation. It is frequently pointed out that the resistivity of the electric conductor used has temperature dependence and some authors have assumed a linear relationship between the elongation and electrical resistance [17], [18]. However, little attention has been paid to the electrical resistance of electroactive supercoiled artificial muscle in operation so far.…”

Section: Introductionmentioning

confidence: 99%

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S-Shaped Nonlinearity in Electrical Resistance of Electroactive Supercoiled Polymer Artificial Muscle

Tada

Kaku

2020

IEICE Trans. Electron.

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S-shaped nonlinearity is found in the electrical resistancelength relationship in an electroactive supercoiled polymer artificial muscle. The modulation of the electrical resistance is mainly caused by the change in the contact condition of coils in the artificial muscle upon deformation. A mathematical model based on logistic function fairly reproduces the experimental data of electrical resistance-length relationship. key words: actuator, supercoiled polymer artificial muscle, twisted and coiled polymer actuator, electrical resistance, mathematical model

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Section: Resultsmentioning

confidence: 81%

Section: Introductionmentioning

confidence: 99%

S-Shaped Nonlinearity in Electrical Resistance of Electroactive Supercoiled Polymer Artificial Muscle

Tada

Kaku

2020

IEICE Trans. Electron.

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“…Joule heating has the benefit that it can be used for selfsensing. 23 In this paper, we make use of hardware that realizes this principle. 27 The so-called Muscle Drive (MD) drives the TCPM by applying a Pulse Width Modulated (PWM) signal with a controlled duty cycle D. The electrical response of the TCPM during the off time of a signal period relates to inductance.…”

Section: Combined Actuation and Sensingmentioning

confidence: 99%

“…TCPMs with Joule heating possess self-sensing capabilities, as we demonstrate in our previous work. 23 We show the potential to use both resistance and inductance of Joule heating for self-sensing purposes. Next to our work, three studies on sensing in TCPMs focus on modeling the resistance of coated nylon muscles.…”

Section: Introductionmentioning

confidence: 97%

Closed-Loop Control Through Self-Sensing of a Joule-Heated Twisted and Coiled Polymer Muscle

Weijde

Babuška

2019

Soft Robotics

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The twisted and coiled polymer muscle has two major benefits: low weight and low cost. Therefore, this new type of actuator is increasingly used in robotic applications where these benefits are relevant. Closed-loop control of these muscles, however, requires additional sensors that add weight and cost, negating the muscles' intrinsic benefits. Self-sensing enables feedback without added sensors. In this paper, we investigate the feasibility of using selfsensing in closed-loop control of a Joule-heated muscle. We use a hardware module capable of driving the muscle, and simultaneously providing sensor measurements based on inductance. A mathematical model relates the measurements to the deflection. In combination with a simple force model, we can estimate both deflection and force, and control either of them. For a muscle that operates within deflections of [10,30] mm and forces of [0.32,0.51] N, our self-sensing method exhibited a 95% confidence interval of 2.14 mm around a mean estimation error of-0.27 mm and 29.0 mN around a mean estimation error of 7.5 mN, for the estimation of respectively deflection and force. We conclude that self-sensing in closed-loop control of Jouleheated twisted and coiled polymer muscles is feasible and may facilitate further deployment of such actuators in applications where low cost and weight are critical.

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“…However, as an inherently nonconductive material, actuation of TCP muscle from fishing line via electrothermal actuation is still a challenge. Different approaches have been proposed to add electrical conductors to artificial muscles, for instance, wrapping flexible carbon nanotube sheets, coating nylon fishing line with conductive silver paint, and twisting metal wire and fishing line simultaneously . Metal wires used include copper, nickel‐titanium shape memory alloy, iron, and nichrome, ranging from a diameter of 140 to 200 µm.…”

mentioning

confidence: 99%

A Novel Soft Actuator for the Musculoskeletal System

Chauhan

Tadesse

2018

Adv Materials Technologies

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actuator. In addition, large mechanical power output, good tensile actuation, and dynamic response are essential requirements for this application.Twisted and coiled polymer (TCP) muscle from fishing line emerged as a promising actuator as shown in Haines et al.; [6] it can deliver a large strain of 49%, lift loads over 100 times heavier than those lifted by a human muscle of the same length and weight, generate 5.3 kW of mechanical work per kilogram of muscle weight, and undergo over 1 million life cycles. The fundamental mechanism in twisted and coiled actuator is the thermally induced fiber untwist in the coiled structure, which allows for both torsional and tensile actuation. [7,8] TCP muscle from fishing line can be actuated via hydrothermal actuation, but Joule heating is a convenient method because it eliminates a complicated actuator system like hot water reservoir and fluid pump needed for hydrothermal actuation. [9] However, as an inherently nonconductive material, actuation of TCP muscle from fishing line via electrothermal actuation is still a challenge. Different approaches have been proposed to add electrical conductors to artificial muscles, for instance, wrapping flexible carbon nanotube sheets, [6] coating nylon fishing line with conductive silver paint, [10,11] and twisting metal wire and fishing line simultaneously. [12][13][14][15] Metal wires used include copper, nickel-titanium shape memory alloy, iron, and nichrome, ranging from a diameter of 140 to 200 µm. Our unique approach is to wrap the resistance wire around the twisted fiber. This novel fabrication method can yield a better actuator for several reasons. First, it will enable the actuation of TCP muscle from fishing line (nonconductive) via electrothermal actuation (Joule heating). Second, avoiding twist to resistance wire enables the use of a very thin resistance wire of a diameter of 80 µm (tensile strength 690 MPa). If twist is inserted into the resistance wire, the thin resistance wire would break during the fabrication procedure. This is one of the main reasons why we avoid twisting the resistance wire. Third, the fabrication process using a very thin resistance wire will have negligible mechanical effect on the actuation. Lastly, the resistance of TCP muscle will no longer change significantly with the increase of temperature. Hereinafter, we refer to this actuator as TCP NC FL muscle. Counterparts in nature serve as the best resource for inspiration and biomimicry for the design of an artificial MS. Given the unique biological significance of the ball-and-socket joint in a variety of species, we propose an artificial MS based on the ball-and-socket joint, which can serve as a biomimetic building block that can then be cascaded in various fashions to createThe musculoskeletal system (MS) is essential for the movements of biological systems. Inspired by this natural structure, several attempts are made to create a synthetic MS. However, one of the challenges in developing an artificial MS for biomimetic robots is the lack of a hi...

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Self-Sensing of Deflection, Force, and Temperature for Joule-Heated Twisted and Coiled Polymer Muscles via Electrical Impedance

Cited by 59 publications

References 27 publications

S-Shaped Nonlinearity in Electrical Resistance of Electroactive Supercoiled Polymer Artificial Muscle

S-Shaped Nonlinearity in Electrical Resistance of Electroactive Supercoiled Polymer Artificial Muscle

Closed-Loop Control Through Self-Sensing of a Joule-Heated Twisted and Coiled Polymer Muscle

A Novel Soft Actuator for the Musculoskeletal System

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