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Hu X, Wang X, Wang J, Zhang G, Fang S, Zhang F, Xiao Y, Cheng G, Baughman RH, Ding J. Fast, variable stiffness-induced braided coiled artificial muscles. Proc Natl Acad Sci U S A 2024; 121:e2412288121. [PMID: 39348536 DOI: 10.1073/pnas.2412288121] [Citation(s) in RCA: 0] [Impact Index Per Article: 0] [Reference Citation Analysis] [Abstract] [Key Words] [MESH Headings] [Grants] [Track Full Text] [Journal Information] [Subscribe] [Scholar Register] [Received: 06/19/2024] [Accepted: 08/30/2024] [Indexed: 10/02/2024] Open
Abstract
Biomimetic actuation technologies with high muscle strokes, cycle rates, and work capacities are necessary for robotic systems. We present a muscle type that operates based on changes in muscle stiffness caused by volume expansion. This muscle is created by coiling a mechanically strong braid, in which an elastomer hollow tube is adhesively attached inside. We show that the muscle reversibly contracts by 47.3% when driven by an oscillating input air pressure of 120 kilopascals at 10 Hz. It generates a maximum power density of 3.0 W/g and demonstrates a mechanical contractile efficiency of 74%. The muscle's low-pressure operation allowed for portable, thermal pneumatical actuation. Moreover, the muscle demonstrated bipolar actuation, wherein internal pressure leads to muscle length expansion if the initial muscle length is compressed and contraction if the muscle is not compressed. Modeling indicates that muscle expansion significantly alters its stiffness, which causes muscle actuation. We demonstrate the utility of BCMs for fast running and climbing robots.
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Affiliation(s)
- Xinghao Hu
- School of Mechanical Engineering, Jiangsu University, Zhenjiang 212013, PR China
| | - Xiangyu Wang
- School of Mechanical Engineering, Jiangsu University, Zhenjiang 212013, PR China
| | - Jian Wang
- School of Mechanical Engineering, Jiangsu University, Zhenjiang 212013, PR China
| | - Guorong Zhang
- School of Mechanical Engineering, Jiangsu University, Zhenjiang 212013, PR China
| | - Shaoli Fang
- Alan G. MacDiarmid NanoTech Institute, University of Texas at Dallas, Richardson, TX 75080
| | - Fengrui Zhang
- School of Mechanical Engineering, Jiangsu University, Zhenjiang 212013, PR China
| | - Ye Xiao
- Department of Engineering Mechanics, Northwestern Polytechnical University, Xi'an 710072, PR China
| | - Guanggui Cheng
- School of Mechanical Engineering, Jiangsu University, Zhenjiang 212013, PR China
| | - Ray H Baughman
- Alan G. MacDiarmid NanoTech Institute, University of Texas at Dallas, Richardson, TX 75080
| | - Jianning Ding
- School of Mechanical Engineering, Yangzhou University, Yangzhou 225127, PR China
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2
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Escobar MC, White TJ. Fast and Slow-Twitch Actuation via Twisted Liquid Crystal Elastomer Fibers. ADVANCED MATERIALS (DEERFIELD BEACH, FLA.) 2024; 36:e2401140. [PMID: 38520204 DOI: 10.1002/adma.202401140] [Citation(s) in RCA: 0] [Impact Index Per Article: 0] [Reference Citation Analysis] [Abstract] [Key Words] [Track Full Text] [Subscribe] [Scholar Register] [Received: 01/22/2024] [Revised: 02/29/2024] [Indexed: 03/25/2024]
Abstract
The performance of robotic systems can benefit from low-density material actuators that emulate muscle typology (e.g., fast and slow twitch) of natural systems. Recent reports detail the thermomechanical, chemical, electrical, and pneumatic response of twisted and coiled fibers. The geometrical constraints imparted on typically commodity materials realize distinguished stimuli-induced actuation including low density, high force, and moderate stroke. Here, actuators are prepared by twisting fibers composed of liquid crystal elastomers (LCEs). The actuators combine the inherent stimuli-response of LCEs with the geometrical constraints of twisted fiber actuators to dramatically increase the deformation rate, specific work, and achievable force output. In some geometries, the thermomechanical response of the LCE exhibits a pseudo-first-order transition.
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Affiliation(s)
- Melvin Colorado Escobar
- Materials Science and Engineering Program, University of Colorado, Boulder, Boulder, CO, 80309, USA
| | - Timothy J White
- Materials Science and Engineering Program, University of Colorado, Boulder, Boulder, CO, 80309, USA
- Department of Chemical and Biological Engineering, University of Colorado, Boulder, Boulder, CO, 80309, USA
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3
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Matharu PS, Song Y, Gandhi U, Tadesse Y. Fabrication and Characterization of Graphene-Mesoporous Carbon-Nickel-Poly(Vinyl Alcohol)-Coated Mandrel-Coiled TCP FLNR Artificial Muscle. Biomimetics (Basel) 2024; 9:458. [PMID: 39194437 DOI: 10.3390/biomimetics9080458] [Citation(s) in RCA: 0] [Impact Index Per Article: 0] [Reference Citation Analysis] [Abstract] [Key Words] [Track Full Text] [Journal Information] [Subscribe] [Scholar Register] [Received: 06/24/2024] [Revised: 07/19/2024] [Accepted: 07/23/2024] [Indexed: 08/29/2024] Open
Abstract
This study investigates the performance enhancement of mandrel-coiled twisted and coiled polymer fibers with a nichrome heater (TCPFLNR) by coating with a solution of graphene-mesoporous carbon-nickel-polyvinyl alcohol. The coating process involved a one-pot synthesis utilizing graphene powder, Ni nanoparticles, mesoporous carbon, and PVA as a binding agent. The coating was performed by manually shaking the TCPFLNR and the subsequent annealing process, which results in improved thermal conductivity and actuation behavior of the TCPFLNR. Experimental results on a 60 mm long actuator demonstrated significant enhancements in actuation displacement and actuation strain (20% to 42%) under various loads with an input current of 0.27 A/power 2.16 W. The blocked stress is ~10 MPa under this 2.16 W power input and the maximum strain is 48% at optimum load of 1.4 MPa. The observed actuation strain correlated directly with the input power. The coated TCPFLNR exhibited better thermal contacts, facilitating enhanced heat transfer, and reducing power consumption by 6% to 9% compared to non-coated actuators. It was found that the nanomaterial coating helps the TCP actuator to be reliable for more than 75,000 actuation cycles at 0.1 Hz in air due to improved thermal conductivity. These findings highlight the potential for further research to optimize electrothermally operated TCP actuators and unlock advancements in this field.
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Affiliation(s)
- Pawandeep Singh Matharu
- Humanoid, Biorobotics and Smart Systems (HBS Lab), Mechanical Engineering Department, The University of Texas at Dallas, Richardson, TX 75080, USA
| | - Yuyang Song
- Toyota Research Institute of North America, 1555 Woodridge Ave, Ann Arbor, MI 48105, USA
| | - Umesh Gandhi
- Toyota Research Institute of North America, 1555 Woodridge Ave, Ann Arbor, MI 48105, USA
| | - Yonas Tadesse
- Humanoid, Biorobotics and Smart Systems (HBS Lab), Mechanical Engineering Department, The University of Texas at Dallas, Richardson, TX 75080, USA
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Zhao T, Xu Y, Wu M, Li Y, Ma J, Li H, Zheng Y, Zeng Y. Highly Efficient Fabrication of Biomimetic Nanoscaled Tendrils for High-Performance PM 0.3 Air Filters. NANO LETTERS 2024; 24:1385-1391. [PMID: 38230986 DOI: 10.1021/acs.nanolett.3c04571] [Citation(s) in RCA: 0] [Impact Index Per Article: 0] [Reference Citation Analysis] [Abstract] [Key Words] [MESH Headings] [Track Full Text] [Subscribe] [Scholar Register] [Indexed: 01/18/2024]
Abstract
Particulate matter pollution has become a serious public health issue, especially with the outbreak of new infectious diseases. However, most existing air filtration materials face challenges such as being too bulky, having high resistance, and a trade-off between filtration efficiency and air permeability. Here, a unique electro-blown spinning technique is used to prepare an air filter made of biomimetic nanoscaled tendril nonwovens (Nano-TN). The introduction of an airflow field significantly increases the whipping frequency and the strain mismatch of composite jets, achieving large-scale and highly efficient preparation of Nano-TN. The resultant Nano-TN has an ultrahigh porosity (97%) and a small pore size (2.9 μm). At the same filtration level, its air resistance is 37% lower than that of traditional straight nanofibrous nonwovens and has a higher dust-holding capacity. Moreover, compared with traditional three-dimensional air filters, the Nano-TN filter is thinner, offering tremendous application prospects in various environmental purification and personal protection fields.
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Affiliation(s)
- Tienan Zhao
- College of Textiles, Donghua University, Shanghai 201620, China
| | - Yuanqiang Xu
- College of Textiles, Donghua University, Shanghai 201620, China
| | - Mengwei Wu
- College of Engineering, Peking University, Beijing 100871, China
| | - Ying Li
- College of Textiles, Donghua University, Shanghai 201620, China
| | - Jiajia Ma
- College of Textiles, Donghua University, Shanghai 201620, China
| | - Hui Li
- College of Textiles, Donghua University, Shanghai 201620, China
| | - Yuansheng Zheng
- College of Textile and Clothes, Shanghai University of Engineering Science, Shanghai 201620, China
| | - Yongchun Zeng
- College of Textiles, Donghua University, Shanghai 201620, China
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Yang D, Feng M, Gu G. High-Stroke, High-Output-Force, Fabric-Lattice Artificial Muscles for Soft Robots. ADVANCED MATERIALS (DEERFIELD BEACH, FLA.) 2024; 36:e2306928. [PMID: 37672748 DOI: 10.1002/adma.202306928] [Citation(s) in RCA: 1] [Impact Index Per Article: 1.0] [Reference Citation Analysis] [Abstract] [Key Words] [MESH Headings] [Grants] [Track Full Text] [Subscribe] [Scholar Register] [Received: 07/13/2023] [Revised: 08/25/2023] [Indexed: 09/08/2023]
Abstract
Artificial muscles, providing safe and close interaction between humans and machines, are essential in soft robotics. However, their insufficient deformation, output force, or configurability usually limits their applications. Herein, this work presents a class of lightweight fabric-lattice artificial muscles (FAMs) that are pneumatically actuated with large contraction ratios (up to 87.5%) and considerable output forces (up to a load of 20 kg, force-to-weight ratio of over 250). The developed FAMs consist of a group of active air chambers that are zigzag connected into a lattice through passive connecting layers. The geometry of these fabric components is programmable to convert the in-plane lattice of FAMs into out-of-plane configurations (e.g., arched and cylindrical) capable of linear/radial contraction. This work further demonstrates that FAMs can be configured for various soft robotic applications, including the powerful robotic elbow with large motion range and high load capability, the well-fitting assistive shoulder exosuit that can reduce muscle activity during abduction, and the adaptive soft gripper that can grasp irregular objects. These results show the unique features and broad potential of FAMs for high-performance soft robots.
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Affiliation(s)
- Dezhi Yang
- Robotics Institute, School of Mechanical Engineering, Shanghai Jiao Tong University, Shanghai, 200240, China
- State Key Laboratory of Mechanical System and Vibration, Shanghai Jiao Tong University, Shanghai, 200240, China
| | - Miao Feng
- Robotics Institute, School of Mechanical Engineering, Shanghai Jiao Tong University, Shanghai, 200240, China
- State Key Laboratory of Mechanical System and Vibration, Shanghai Jiao Tong University, Shanghai, 200240, China
| | - Guoying Gu
- Robotics Institute, School of Mechanical Engineering, Shanghai Jiao Tong University, Shanghai, 200240, China
- State Key Laboratory of Mechanical System and Vibration, Shanghai Jiao Tong University, Shanghai, 200240, China
- Meta Robotics Institute, Shanghai Jiao Tong University, Shanghai, 200240, China
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Feng M, Yang D, Ren L, Wei G, Gu G. X-crossing pneumatic artificial muscles. SCIENCE ADVANCES 2023; 9:eadi7133. [PMID: 37729399 PMCID: PMC10511197 DOI: 10.1126/sciadv.adi7133] [Citation(s) in RCA: 3] [Impact Index Per Article: 3.0] [Reference Citation Analysis] [Abstract] [MESH Headings] [Grants] [Track Full Text] [Subscribe] [Scholar Register] [Received: 05/13/2023] [Accepted: 08/17/2023] [Indexed: 09/22/2023]
Abstract
Artificial muscles are promising in soft exoskeletons, locomotion robots, and operation machines. However, their performance in contraction ratio, output force, and dynamic response is often imbalanced and limited by materials, structures, or actuation principles. We present lightweight, high-contraction ratio, high-output force, and positive pressure-driven X-crossing pneumatic artificial muscles (X-PAMs). Unlike PAMs, our X-PAMs harness the X-crossing mechanism to directly convert linear motion along the actuator axis, achieving an unprecedented 92.9% contraction ratio and an output force of 207.9 Newtons per kilogram per kilopascal with excellent dynamic properties, such as strain rate (1603.0% per second), specific power (5.7 kilowatts per kilogram), and work density (842.9 kilojoules per meter cubed). These properties can overcome the slow actuation of conventional PAMs, providing robotic elbow, jumping robot, and lightweight gripper with fast, powerful performance. The robust design of X-PAMs withstands extreme environments, including high-temperature, underwater, and long-duration actuation, while being scalable to parallel, asymmetric, and ring-shaped configurations for potential applications.
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Affiliation(s)
- Miao Feng
- Robotics Institute, School of Mechanical Engineering, Shanghai Jiao Tong University, Shanghai 200240, China
- State Key Laboratory of Mechanical System and Vibration, Shanghai Jiao Tong University, Shanghai 200240, China
- Department of Mechanical, Aerospace and Civil Engineering, The University of Manchester, Manchester M13 9PL, UK
- School of Science, Engineering and Environment, The University of Salford, Salford M5 4WT, UK
| | - Dezhi Yang
- Robotics Institute, School of Mechanical Engineering, Shanghai Jiao Tong University, Shanghai 200240, China
- State Key Laboratory of Mechanical System and Vibration, Shanghai Jiao Tong University, Shanghai 200240, China
| | - Lei Ren
- Department of Mechanical, Aerospace and Civil Engineering, The University of Manchester, Manchester M13 9PL, UK
- Key Laboratory of Bionic Engineering, Jilin University, Changchun 130015, China
| | - Guowu Wei
- School of Science, Engineering and Environment, The University of Salford, Salford M5 4WT, UK
| | - Guoying Gu
- Robotics Institute, School of Mechanical Engineering, Shanghai Jiao Tong University, Shanghai 200240, China
- State Key Laboratory of Mechanical System and Vibration, Shanghai Jiao Tong University, Shanghai 200240, China
- Meta Robotics Institute, Shanghai Jiao Tong University, Shanghai 200240, China
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Wang B, Wang Y, Huang J, Zeng Y, Liu X, Zhou K. Computed torque control and force analysis for mechanical leg with variable rotation axis powered by servo pneumatic muscle. ISA TRANSACTIONS 2023; 140:385-401. [PMID: 37391291 DOI: 10.1016/j.isatra.2023.06.014] [Citation(s) in RCA: 0] [Impact Index Per Article: 0] [Reference Citation Analysis] [Abstract] [Key Words] [MESH Headings] [Track Full Text] [Subscribe] [Scholar Register] [Received: 01/15/2022] [Revised: 06/08/2023] [Accepted: 06/16/2023] [Indexed: 07/02/2023]
Abstract
It is difficult for a humanoid leg driven by two groups of antagonistic pneumatic muscles (PMs) to achieve a flexible humanoid gait, and its inherent strong coupling nonlinear characteristics make it hard to achieve good tracking performance in a large range of motion. Therefore, a four-bar linkage bionic knee joint structure with a variable axis and a double closed-loop servo position control strategy based on computed torque control are designed to improve anthropomorphic characteristics and the dynamic performance of the bionic mechanical leg powered by servo pneumatic muscle (SPM). Firstly, the relationship between the joint torque, the initial jump angle and the bounce height of the mechanical leg is established, and then we design a double-joint PM bionic mechanical leg containing a four-bar linkage mechanism of the knee joint. Secondly, a cascade position control strategy is developed, which consists of the outer position loop and the inner contraction force loop, and the mapping relationship is designed between joint torque and antagonistic PM contraction force. Finally, we further project bounce action timing of mechanical leg to realize the periodic jumping movement of the mechanical leg, and simulation and physical experiments of the real-style machine platform have been provided to demonstrate the effectiveness of the designed SPM controller.
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Affiliation(s)
- Binrui Wang
- College of Mechanical and Electrical Engineering, China Jiliang University, Hangzhou 310018, China
| | - Youcao Wang
- College of Mechanical and Electrical Engineering, China Jiliang University, Hangzhou 310018, China
| | - Jiqing Huang
- College of Mechanical and Electrical Engineering, China Jiliang University, Hangzhou 310018, China
| | - Yuxin Zeng
- School of Engineering, Faculty of Applied Science, The University of British Columbia, Kelowna, BC V1V 1V7, Canada
| | - Xiaolong Liu
- Department of Mechanical Engineering, Johns Hopkins University, Baltimore, MD 21211, USA
| | - Kun Zhou
- College of Mechanical and Electrical Engineering, China Jiliang University, Hangzhou 310018, China.
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Richter M, Sikorski J, Makushko P, Zabila Y, Venkiteswaran VK, Makarov D, Misra S. Locally Addressable Energy Efficient Actuation of Magnetic Soft Actuator Array Systems. ADVANCED SCIENCE (WEINHEIM, BADEN-WURTTEMBERG, GERMANY) 2023; 10:e2302077. [PMID: 37330643 PMCID: PMC10460866 DOI: 10.1002/advs.202302077] [Citation(s) in RCA: 4] [Impact Index Per Article: 4.0] [Reference Citation Analysis] [Abstract] [Key Words] [Grants] [Track Full Text] [Subscribe] [Scholar Register] [Received: 03/30/2023] [Revised: 05/21/2023] [Indexed: 06/19/2023]
Abstract
Advances in magnetoresponsive composites and (electro-)magnetic actuators have led to development of magnetic soft machines (MSMs) as building blocks for small-scale robotic devices. Near-field MSMs offer energy efficiency and compactness by bringing the field source and effectors in close proximity. Current challenges of near-field MSM are limited programmability of effector motion, dimensionality, ability to perform collaborative tasks, and structural flexibility. Herein, a new class of near-field MSMs is demonstrated that combines microscale thickness flexible planar coils with magnetoresponsive polymer effectors. Ultrathin manufacturing and magnetic programming of effectors is used to tailor their response to the nonhomogeneous near-field distribution on the coil surface. The MSMs are demonstrated to lift, tilt, pull, or grasp in close proximity to each other. These ultrathin (80 µm) and lightweight (100 gm-2 ) MSMs can operate at high frequency (25 Hz) and low energy consumption (0.5 W), required for the use of MSMs in portable electronics.
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Affiliation(s)
- Michiel Richter
- Surgical Robotics LaboratoryDepartment of Biomechanical EngineeringUniversity of TwenteDrienerlolaan 5Enschede7500 AEThe Netherlands
| | - Jakub Sikorski
- Surgical Robotics LaboratoryDepartment of Biomechanical EngineeringUniversity of TwenteDrienerlolaan 5Enschede7500 AEThe Netherlands
- Surgical Robotics LaboratoryDepartment of Biomedical EngineeringUniversity of Groningen and UniversityMedical Centre Groningen, Hanzeplein 1Groningen9713 GZThe Netherlands
| | - Pavlo Makushko
- Institute of Ion Beam Physics and Materials Research, Helmholtz‐Zentrum Dresden‐Rossendorf e.V.Bautzner, Landstraße 40001328DresdenGermany
| | - Yevhen Zabila
- Institute of Ion Beam Physics and Materials Research, Helmholtz‐Zentrum Dresden‐Rossendorf e.V.Bautzner, Landstraße 40001328DresdenGermany
- The H. Niewodniczanski Institute of Nuclear Physics, Polish Academy of SciencesKrakow31‐342Poland
| | | | - Denys Makarov
- Institute of Ion Beam Physics and Materials Research, Helmholtz‐Zentrum Dresden‐Rossendorf e.V.Bautzner, Landstraße 40001328DresdenGermany
| | - Sarthak Misra
- Surgical Robotics LaboratoryDepartment of Biomechanical EngineeringUniversity of TwenteDrienerlolaan 5Enschede7500 AEThe Netherlands
- Surgical Robotics LaboratoryDepartment of Biomedical EngineeringUniversity of Groningen and UniversityMedical Centre Groningen, Hanzeplein 1Groningen9713 GZThe Netherlands
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De Pascali C, Palagi S, Mazzolai B. 3D-printed hierarchical arrangements of actuators mimicking biological muscular architectures. BIOINSPIRATION & BIOMIMETICS 2023; 18:046014. [PMID: 37116509 DOI: 10.1088/1748-3190/acd159] [Citation(s) in RCA: 0] [Impact Index Per Article: 0] [Reference Citation Analysis] [Abstract] [Key Words] [Track Full Text] [Subscribe] [Scholar Register] [Indexed: 06/19/2023]
Abstract
Being able to imitate the sophisticated muscular architectures that characterize the animal kingdom in biomimetic machines would allow them to perform articulated movements with the same naturalness. In soft robotics, multiple actuation technologies have been developed to mimic the contraction of a single natural muscle, but a few of them can be implemented in complex architectures capable of diversifying deformations and forces. In this work, we present three different biomimetic muscle architectures, i.e., fusiform, parallel, and bipennate, which are based on hierarchical arrangements of multiple pneumatic actuators. These biomimetic architectures are monolithic structures composed of thirty-six pneumatic actuators each, directly 3D printed through low-cost printers and commercial materials without any assembly phase. The considerable number of actuators involved enabled the adoption and consequent comparison of two regulation strategies: one based on input modulation, commonly adopted in pneumatic systems, and one based on fiber recruitment, mimicking the regulation behavior of natural muscles. The straightforward realization through additive manufacturing processes of muscle architectures regulated by fiber recruitment strategies facilitates the development of articulated muscular systems for biomimetics machines increasingly similar to the natural ones.
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Affiliation(s)
- Corrado De Pascali
- Istituto Italiano di Tecnologia, Via Morego 30, Genova, Liguria, 16163, ITALY
| | - Stefano Palagi
- Scuola Superiore Sant'Anna, Viale Rinaldo Piaggio 34, Pontedera, 56025, ITALY
| | - Barbara Mazzolai
- Bioinspired Soft Robotics, Istituto Italiano di Tecnologia, Via Morego 30, Genova, Liguria, 16163, ITALY
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Guo H, Puttreddy R, Salminen T, Lends A, Jaudzems K, Zeng H, Priimagi A. Halogen-bonded shape memory polymers. Nat Commun 2022; 13:7436. [PMID: 36470884 PMCID: PMC9723116 DOI: 10.1038/s41467-022-34962-7] [Citation(s) in RCA: 9] [Impact Index Per Article: 4.5] [Reference Citation Analysis] [Abstract] [Key Words] [Track Full Text] [Figures] [Journal Information] [Subscribe] [Scholar Register] [Received: 05/02/2022] [Accepted: 11/11/2022] [Indexed: 12/12/2022] Open
Abstract
Halogen bonding (XB), a non-covalent interaction between an electron-deficient halogen atom and a Lewis base, is widely adopted in organic synthesis and supramolecular crystal engineering. However, the roadmap towards materials applications is hindered by the challenges in harnessing this relatively weak intermolecular interaction to devise human-commanded stimuli-responsive soft materials. Here, we report a liquid crystalline network comprising permanent covalent crosslinks and dynamic halogen bond crosslinks, which possess reversible thermo-responsive shape memory behaviour. Our findings suggest that I···N halogen bond, a paradigmatic motif in crystal engineering studies, enables temporary shape fixation at room temperature and subsequent shape recovery in response to human body temperature. We demonstrate versatile shape programming of the halogen-bonded polymer networks through human-hand operation and propose a micro-robotic injection model for complex 1D to 3D shape morphing in aqueous media at 37 °C. Through systematic structure-property-performance studies, we show the necessity of the I···N crosslinks in driving the shape memory effect. The halogen-bonded shape memory polymers expand the toolbox for the preparation of smart supramolecular constructs with tailored mechanical properties and thermoresponsive behaviour, for the needs of, e.g., future medical devices.
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Affiliation(s)
- Hongshuang Guo
- grid.502801.e0000 0001 2314 6254Smart Photonic Materials, Faculty of Engineering and Natural Sciences, Tampere University, Korkeakoulunkatu 3, FI-33720 Tampere, Finland
| | - Rakesh Puttreddy
- grid.502801.e0000 0001 2314 6254Smart Photonic Materials, Faculty of Engineering and Natural Sciences, Tampere University, Korkeakoulunkatu 3, FI-33720 Tampere, Finland
| | - Turkka Salminen
- grid.502801.e0000 0001 2314 6254Tampere Microscopy Center, Tampere University, Korkeakoulunkatu 3, FI-33720 Tampere, Finland
| | - Alons Lends
- grid.419212.d0000 0004 0395 6526Department of Physical Organic Chemistry, Latvian Institute of Organic Synthesis, Riga, LV-1006 Latvia
| | - Kristaps Jaudzems
- grid.419212.d0000 0004 0395 6526Department of Physical Organic Chemistry, Latvian Institute of Organic Synthesis, Riga, LV-1006 Latvia
| | - Hao Zeng
- grid.502801.e0000 0001 2314 6254Smart Photonic Materials, Faculty of Engineering and Natural Sciences, Tampere University, Korkeakoulunkatu 3, FI-33720 Tampere, Finland
| | - Arri Priimagi
- grid.502801.e0000 0001 2314 6254Smart Photonic Materials, Faculty of Engineering and Natural Sciences, Tampere University, Korkeakoulunkatu 3, FI-33720 Tampere, Finland
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11
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Dong L, Ren M, Wang Y, Wang G, Zhang S, Wei X, He J, Cui B, Zhao Y, Xu P, Wang X, Di J, Li Q. Artificial neuromuscular fibers by multilayered coaxial integration with dynamic adaption. SCIENCE ADVANCES 2022; 8:eabq7703. [PMID: 36383669 PMCID: PMC9668289 DOI: 10.1126/sciadv.abq7703] [Citation(s) in RCA: 7] [Impact Index Per Article: 3.5] [Reference Citation Analysis] [Abstract] [Grants] [Track Full Text] [Figures] [Subscribe] [Scholar Register] [Received: 05/02/2022] [Accepted: 10/19/2022] [Indexed: 06/16/2023]
Abstract
Integrating sense in a thin artificial muscle fiber for environmental adaption and actuation path tracing, as a snail tentacle does, is highly needed but still challenging because of the interfacing mismatch between the fiber's actuation and sensing components. Here, we report an artificial neuromuscular fiber by wrapping a carbon nanotube (CNT) fiber core in sequence with an elastomer layer, a nanofiber network, and an MXene/CNT thin sheath, achieving the ingenious sense-judge-act intelligent system in an elastic fiber. The CNT/elastomer components provide actuation, and the sheath enables touch/stretch perception and hysteresis-free cyclic actuation tracing due to its strain-dependent resistance. As a whole, the coaxial structure builds a dielectric capacitor that enables sensitive touchless perception. The key to seamless integration is to use a nanofiber interface that allows the sensing layer to adaptively trace but not restrict actuation. This work provides promising solutions for closed-loop control for future intelligent soft robots.
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Affiliation(s)
- Lizhong Dong
- School of Nano-Technology and Nano-Bionics, University of Science and Technology of China, Hefei 230026, China
- Advanced Materials Division, Key Laboratory of Multifunctional Nanomaterials and Smart Systems, Suzhou Institute of Nano-Tech and Nano-Bionics, Chinese Academy of Sciences, Suzhou 215123, China
| | - Ming Ren
- School of Nano-Technology and Nano-Bionics, University of Science and Technology of China, Hefei 230026, China
- Advanced Materials Division, Key Laboratory of Multifunctional Nanomaterials and Smart Systems, Suzhou Institute of Nano-Tech and Nano-Bionics, Chinese Academy of Sciences, Suzhou 215123, China
| | - Yulian Wang
- School of Nano-Technology and Nano-Bionics, University of Science and Technology of China, Hefei 230026, China
- Advanced Materials Division, Key Laboratory of Multifunctional Nanomaterials and Smart Systems, Suzhou Institute of Nano-Tech and Nano-Bionics, Chinese Academy of Sciences, Suzhou 215123, China
| | - Guanghua Wang
- Advanced Materials Division, Key Laboratory of Multifunctional Nanomaterials and Smart Systems, Suzhou Institute of Nano-Tech and Nano-Bionics, Chinese Academy of Sciences, Suzhou 215123, China
| | - Shiqin Zhang
- Advanced Materials Division, Key Laboratory of Multifunctional Nanomaterials and Smart Systems, Suzhou Institute of Nano-Tech and Nano-Bionics, Chinese Academy of Sciences, Suzhou 215123, China
| | - Xulin Wei
- Advanced Materials Division, Key Laboratory of Multifunctional Nanomaterials and Smart Systems, Suzhou Institute of Nano-Tech and Nano-Bionics, Chinese Academy of Sciences, Suzhou 215123, China
| | - Jianfeng He
- School of Nano-Technology and Nano-Bionics, University of Science and Technology of China, Hefei 230026, China
- Advanced Materials Division, Key Laboratory of Multifunctional Nanomaterials and Smart Systems, Suzhou Institute of Nano-Tech and Nano-Bionics, Chinese Academy of Sciences, Suzhou 215123, China
| | - Bo Cui
- School of Nano-Technology and Nano-Bionics, University of Science and Technology of China, Hefei 230026, China
- Advanced Materials Division, Key Laboratory of Multifunctional Nanomaterials and Smart Systems, Suzhou Institute of Nano-Tech and Nano-Bionics, Chinese Academy of Sciences, Suzhou 215123, China
| | - Yueran Zhao
- Advanced Materials Division, Key Laboratory of Multifunctional Nanomaterials and Smart Systems, Suzhou Institute of Nano-Tech and Nano-Bionics, Chinese Academy of Sciences, Suzhou 215123, China
| | - Panpan Xu
- Advanced Materials Division, Key Laboratory of Multifunctional Nanomaterials and Smart Systems, Suzhou Institute of Nano-Tech and Nano-Bionics, Chinese Academy of Sciences, Suzhou 215123, China
| | - Xiaona Wang
- Advanced Materials Division, Key Laboratory of Multifunctional Nanomaterials and Smart Systems, Suzhou Institute of Nano-Tech and Nano-Bionics, Chinese Academy of Sciences, Suzhou 215123, China
| | - Jiangtao Di
- School of Nano-Technology and Nano-Bionics, University of Science and Technology of China, Hefei 230026, China
- Advanced Materials Division, Key Laboratory of Multifunctional Nanomaterials and Smart Systems, Suzhou Institute of Nano-Tech and Nano-Bionics, Chinese Academy of Sciences, Suzhou 215123, China
- Division of Nanomaterials and Jiangxi Key Lab of Carbonene Materials, Jiangxi Institute of Nanotechnology, Nanchang 330200, China
| | - Qingwen Li
- School of Nano-Technology and Nano-Bionics, University of Science and Technology of China, Hefei 230026, China
- Advanced Materials Division, Key Laboratory of Multifunctional Nanomaterials and Smart Systems, Suzhou Institute of Nano-Tech and Nano-Bionics, Chinese Academy of Sciences, Suzhou 215123, China
- Division of Nanomaterials and Jiangxi Key Lab of Carbonene Materials, Jiangxi Institute of Nanotechnology, Nanchang 330200, China
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Zhan H, Dong B, Zhang G, Lü C, Gu Y. Nanoscale Diamane Spiral Spring for High Mechanical Energy Storage. SMALL (WEINHEIM AN DER BERGSTRASSE, GERMANY) 2022; 18:e2203887. [PMID: 35971189 DOI: 10.1002/smll.202203887] [Citation(s) in RCA: 0] [Impact Index Per Article: 0] [Reference Citation Analysis] [Abstract] [Key Words] [Track Full Text] [Subscribe] [Scholar Register] [Received: 06/23/2022] [Revised: 07/11/2022] [Indexed: 06/15/2023]
Abstract
A compact, stable, sustainable, and high-energy density power supply system is crucial for the engineering deployment of mobile electromechanical devices/systems either at the small- or large-scale. This work proposes a spiral-based mechanical energy storage scheme utilizing the newly synthesized 2D diamane. Atomistic simulations show that diamane spiral can achieve a high theoretical gravimetric energy density of about 564 Wh kg-1 , about 14 500 times the steel spring. The interlayer friction between diamane is found to cause a strong stick-slip effect that results in local stress/strain concentration. As such, the energy storage capacity of the diamane spiral can be tuned by suppressing the influence from the interlayer friction. Simulations affirm that higher gravimetric energy density can be achieved by reducing the turn number or adopting a low friction contact pair. The fundamental principles that dominate the energy storage capacity of the spiral spring are theoretically analyzed, respectively. The obtained insights suggest that the 2D vdW solids can be promising candidates to construct spiral structures with a high gravimetric energy density. This work should be beneficial for the design of reliable, stable, and sustainable nanoscale mechanical energy storage schemes that can be used as an alternative low-carbon footage energy supplier for novel micro-/nanoscale devices or systems.
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Affiliation(s)
- Haifei Zhan
- College of Civil Engineering and Architecture, Zhejiang University, Hangzhou, 310058, P. R. China
- School of Mechanical, Medical and Process Engineering, Queensland University of Technology (QUT), Brisbane, QLD, 4001, Australia
- Center for Materials Science, Queensland University of Technology (QUT), Brisbane, QLD, 4001, Australia
| | - Bin Dong
- College of Civil Engineering and Architecture, Zhejiang University, Hangzhou, 310058, P. R. China
| | - Gang Zhang
- Institute of High Performance Computing, Agency for Science, Technology and Research, 1 Fusionopolis Way, Singapore, 138632, Singapore
| | - Chaofeng Lü
- College of Civil Engineering and Architecture, Zhejiang University, Hangzhou, 310058, P. R. China
- Faculty of Mechanical Engineering & Mechanics, Ningbo University, Ningbo, 315211, P. R. China
| | - Yuantong Gu
- School of Mechanical, Medical and Process Engineering, Queensland University of Technology (QUT), Brisbane, QLD, 4001, Australia
- Center for Materials Science, Queensland University of Technology (QUT), Brisbane, QLD, 4001, Australia
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De Pascali C, Naselli GA, Palagi S, Scharff RBN, Mazzolai B. 3D-printed biomimetic artificial muscles using soft actuators that contract and elongate. Sci Robot 2022; 7:eabn4155. [PMID: 35895921 DOI: 10.1126/scirobotics.abn4155] [Citation(s) in RCA: 17] [Impact Index Per Article: 8.5] [Reference Citation Analysis] [Abstract] [Track Full Text] [Journal Information] [Subscribe] [Scholar Register] [Indexed: 12/22/2022]
Abstract
Biomimetic machines able to integrate with natural and social environments will find ubiquitous applications, from biodiversity conservation to elderly daily care. Although artificial actuators have reached the contraction performances of muscles, the versatility and grace of the movements realized by the complex arrangements of muscles remain largely unmatched. Here, we present a class of pneumatic artificial muscles, named GeometRy-based Actuators that Contract and Elongate (GRACE). The GRACEs consist of a single-material pleated membrane and do not need any strain-limiting elements. They can contract and extend by design, as described by a mathematical model, and can be realized at different dimensional scales and with different materials and mechanical performances, enabling a wide range of lifelike movements. The GRACEs can be fabricated through low-cost additive manufacturing and even built directly within functional devices, such as a pneumatic artificial hand that is fully three-dimensionally printed in one step. This makes the prototyping and fabrication of pneumatic artificial muscle-based devices faster and more straightforward.
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Affiliation(s)
- Corrado De Pascali
- Bioinspired Soft Robotics Laboratory, Istituto Italiano di Tecnologia, Genoa, Italy.,BioRobotics Institute, Scuola Superiore Sant'Anna, Pontedera, Italy
| | | | - Stefano Palagi
- Bioinspired Soft Robotics Laboratory, Istituto Italiano di Tecnologia, Genoa, Italy.,BioRobotics Institute, Scuola Superiore Sant'Anna, Pontedera, Italy
| | - Rob B N Scharff
- Bioinspired Soft Robotics Laboratory, Istituto Italiano di Tecnologia, Genoa, Italy
| | - Barbara Mazzolai
- Bioinspired Soft Robotics Laboratory, Istituto Italiano di Tecnologia, Genoa, Italy
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14
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Twisting for soft intelligent autonomous robot in unstructured environments. Proc Natl Acad Sci U S A 2022; 119:e2200265119. [PMID: 35605115 DOI: 10.1073/pnas.2200265119] [Citation(s) in RCA: 50] [Impact Index Per Article: 25.0] [Reference Citation Analysis] [Abstract] [Key Words] [Track Full Text] [Journal Information] [Subscribe] [Scholar Register] [Indexed: 01/19/2023] Open
Abstract
SignificanceAutonomy is crucial for soft robotics that are constructed of soft materials. It remains challenging to create autonomous soft robots that can intelligently interact with and adapt to changing environments without external controls. To do so, it often requires an analogical soft "brain" that integrates on-board sensing, control, computation, and decision-making. Here, we report an autonomous soft robot embodied with physical intelligence for decision-making via adaptive soft body-environment interactions and snap-through instability, without integrated sensing and external controls. This study harnesses physical intelligence as a new paradigm for designing autonomous soft robots that can interact intelligently with their environments, thus potentially reducing the burdens on the conventional integrated sensing, control, computations, and decision-making systems in designing intelligent soft robots.
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15
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Chi Y, Li Y, Zhao Y, Hong Y, Tang Y, Yin J. Bistable and Multistable Actuators for Soft Robots: Structures, Materials, and Functionalities. ADVANCED MATERIALS (DEERFIELD BEACH, FLA.) 2022; 34:e2110384. [PMID: 35172026 DOI: 10.1002/adma.202110384] [Citation(s) in RCA: 42] [Impact Index Per Article: 21.0] [Reference Citation Analysis] [Abstract] [Key Words] [Track Full Text] [Subscribe] [Scholar Register] [Received: 12/20/2021] [Revised: 02/04/2022] [Indexed: 06/14/2023]
Abstract
Snap-through bistability is often observed in nature (e.g., fast snapping to closure of Venus flytrap) and the life (e.g., bottle caps and hair clippers). Recently, harnessing bistability and multistability in different structures and soft materials has attracted growing interest for high-performance soft actuators and soft robots. They have demonstrated broad and unique applications in high-speed locomotion on land and under water, adaptive sensing and fast grasping, shape reconfiguration, electronics-free controls with a single input, and logic computation. Here, an overview of integrating bistable and multistable structures with soft actuating materials for diverse soft actuators and soft/flexible robots is given. The mechanics-guided structural design principles for five categories of basic bistable elements from 1D to 3D (i.e., constrained beams, curved plates, dome shells, compliant mechanisms of linkages with flexible hinges and deformable origami, and balloon structures) are first presented, alongside brief discussions of typical soft actuating materials (i.e., fluidic elastomers and stimuli-responsive materials such as electro-, photo-, thermo-, magnetic-, and hydro-responsive polymers). Following that, integrating these soft materials with each category of bistable elements for soft bistable and multistable actuators and their diverse robotic applications are discussed. To conclude, perspectives on the challenges and opportunities in this emerging field are considered.
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Affiliation(s)
- Yinding Chi
- Department of Mechanical and Aerospace Engineering, North Carolina State University, Raleigh, NC, 27695, USA
| | - Yanbin Li
- Department of Mechanical and Aerospace Engineering, North Carolina State University, Raleigh, NC, 27695, USA
| | - Yao Zhao
- Department of Mechanical and Aerospace Engineering, North Carolina State University, Raleigh, NC, 27695, USA
| | - Yaoye Hong
- Department of Mechanical and Aerospace Engineering, North Carolina State University, Raleigh, NC, 27695, USA
| | - Yichao Tang
- School of Mechanical Engineering, Tongji University, Shanghai, 200092, China
| | - Jie Yin
- Department of Mechanical and Aerospace Engineering, North Carolina State University, Raleigh, NC, 27695, USA
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17
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Li M, Tang Y, Soon RH, Dong B, Hu W, Sitti M. Miniature coiled artificial muscle for wireless soft medical devices. SCIENCE ADVANCES 2022; 8:eabm5616. [PMID: 35275717 PMCID: PMC8916729 DOI: 10.1126/sciadv.abm5616] [Citation(s) in RCA: 18] [Impact Index Per Article: 9.0] [Reference Citation Analysis] [Abstract] [Grants] [Track Full Text] [Subscribe] [Scholar Register] [Indexed: 05/06/2023]
Abstract
Wireless small-scale soft-bodied devices are capable of precise operation inside confined internal spaces, enabling various minimally invasive medical applications. However, such potential is constrained by the small output force and low work capacity of the current miniature soft actuators. To address this challenge, we report a small-scale soft actuator that harnesses the synergetic interactions between the coiled artificial muscle and radio frequency-magnetic heating. This wirelessly controlled actuator exhibits a large output force (~3.1 N) and high work capacity (3.5 J/g). Combining this actuator with different mechanical designs, its tensile and torsional behaviors can be engineered into different functional devices, such as a suture device, a pair of scissors, a driller, and a clamper. In addition, by assuming a spatially varying magnetization profile, a multilinked coiled muscle can have both magnetic field-induced bending and high contractile force. Such an approach could be used in various future untethered miniature medical devices.
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Affiliation(s)
- Mingtong Li
- Physical Intelligence Department, Max Planck Institute for Intelligent Systems, 70569 Stuttgart, Germany
- Institute of Functional Nano & Soft Materials (FUNSOM), Jiangsu Key Laboratory for Carbon-Based Functional Materials & Devices, Soochow University, Suzhou, Jiangsu 215123, P. R. China
| | - Yichao Tang
- Physical Intelligence Department, Max Planck Institute for Intelligent Systems, 70569 Stuttgart, Germany
- School of Mechanical Engineering, Tongji University, Shanghai 201804, P. R. China
| | - Ren Hao Soon
- Physical Intelligence Department, Max Planck Institute for Intelligent Systems, 70569 Stuttgart, Germany
- School of Mechanical Engineering, Tongji University, Shanghai 201804, P. R. China
| | - Bin Dong
- Institute of Functional Nano & Soft Materials (FUNSOM), Jiangsu Key Laboratory for Carbon-Based Functional Materials & Devices, Soochow University, Suzhou, Jiangsu 215123, P. R. China
| | - Wenqi Hu
- Physical Intelligence Department, Max Planck Institute for Intelligent Systems, 70569 Stuttgart, Germany
- Corresponding author. (W.H.); (M.S.)
| | - Metin Sitti
- Physical Intelligence Department, Max Planck Institute for Intelligent Systems, 70569 Stuttgart, Germany
- Institute for Biomedical Engineering, ETH Zürich, 8092 Zürich, Switzerland
- School of Medicine and College of Engineering, Koç University, 34450 Istanbul, Turkey
- Corresponding author. (W.H.); (M.S.)
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Design and Control of a Nonlinear Series Elastic Cable Actuator Based on the Hill Muscle Model. ACTUATORS 2022. [DOI: 10.3390/act11030068] [Citation(s) in RCA: 0] [Impact Index Per Article: 0] [Reference Citation Analysis] [Abstract] [Track Full Text] [Subscribe] [Scholar Register] [Indexed: 12/10/2022]
Abstract
The bionic design of muscles is a research hotspot at present. Many researchers have designed bionic elastic actuators based on the Hill muscle model, and most of them include an active contraction element, passive contraction element and series elastic element, but they need more parametric design of mechanical structure and control under the guidance of Hill muscle model. In this research, a nonlinear series elastic cable actuating mechanism is designed in which the parameters of the elastic mechanism are optimized based on the Hill muscle model to fit the nonlinear passive elasticity of a muscle. Through the force–position relationship determined by the Hill muscle model, the output force and position of a nonlinear series elastic cable actuator are controlled to simulate the active contraction performance of a muscle. The experiments show that the proposed design and control method can make the nonlinear cable actuator have good muscle-like output force–displacement characteristics.
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Higueras-Ruiz DR, Nishikawa K, Feigenbaum H, Shafer M. What is an artificial muscle? A comparison of soft actuators to biological muscles. BIOINSPIRATION & BIOMIMETICS 2021; 17:011001. [PMID: 34792040 DOI: 10.1088/1748-3190/ac3adf] [Citation(s) in RCA: 14] [Impact Index Per Article: 4.7] [Reference Citation Analysis] [Abstract] [Key Words] [MESH Headings] [Track Full Text] [Subscribe] [Scholar Register] [Received: 07/11/2021] [Accepted: 11/16/2021] [Indexed: 06/13/2023]
Abstract
Interest in emulating the properties of biological muscles that allow for fast adaptability and control in unstructured environments has motivated researchers to develop new soft actuators, often referred to as 'artificial muscles'. The field of soft robotics is evolving rapidly as new soft actuator designs are published every year. In parallel, recent studies have also provided new insights for understanding biological muscles as 'active' materials whose tunable properties allow them to adapt rapidly to external perturbations. This work presents a comparative study of biological muscles and soft actuators, focusing on those properties that make biological muscles highly adaptable systems. In doing so, we briefly review the latest soft actuation technologies, their actuation mechanisms, and advantages and disadvantages from an operational perspective. Next, we review the latest advances in understanding biological muscles. This presents insight into muscle architecture, the actuation mechanism, and modeling, but more importantly, it provides an understanding of the properties that contribute to adaptability and control. Finally, we conduct a comparative study of biological muscles and soft actuators. Here, we present the accomplishments of each soft actuation technology, the remaining challenges, and future directions. Additionally, this comparative study contributes to providing further insight on soft robotic terms, such as biomimetic actuators, artificial muscles, and conceptualizing a higher level of performance actuator named artificial supermuscle. In conclusion, while soft actuators often have performance metrics such as specific power, efficiency, response time, and others similar to those in muscles, significant challenges remain when finding suitable substitutes for biological muscles, in terms of other factors such as control strategies, onboard energy integration, and thermoregulation.
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Affiliation(s)
- Diego R Higueras-Ruiz
- Department of Mechanical Engineering, Northern Arizona University, Flagstaff, AZ-86011, United States of America
| | - Kiisa Nishikawa
- Department of Biological Sciences, Northern Arizona University, Flagstaff, AZ-86011, United States of America
| | - Heidi Feigenbaum
- Department of Mechanical Engineering, Northern Arizona University, Flagstaff, AZ-86011, United States of America
| | - Michael Shafer
- Department of Mechanical Engineering, Northern Arizona University, Flagstaff, AZ-86011, United States of America
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