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Kanno R, Shimizu K, Murakami K, Shibahara Y, Ogawa N, Akai H, Shintake J. Silicone-based highly stretchable multifunctional fiber pumps. Sci Rep 2024; 14:4618. [PMID: 38409217 PMCID: PMC10897224 DOI: 10.1038/s41598-024-55472-0] [Citation(s) in RCA: 0] [Impact Index Per Article: 0] [Reference Citation Analysis] [Abstract] [Grants] [Track Full Text] [Journal Information] [Subscribe] [Scholar Register] [Received: 12/02/2023] [Accepted: 02/23/2024] [Indexed: 02/28/2024] Open
Abstract
Recent advancements on electrohydrodynamic (EHD) soft pumps demonstrate their applicability to various fluid-driven systems such as soft robots, wearable devices, and stretchable electronics. In particular, fiber type EHD pumps reported more recently is a promising pumping element thanks to their versatile fibrous structure. Yet existing EHD fiber pumps are less stretchable and require sophisticated, complex fabrication equipment, implying opportunity for technology advancement. This paper presents a simplified method to create highly stretchable multifunctional fiber EHD pumps. The method employs highly compliant silicone elastomers for the fiber structure that is formed by simple dipping fabrication process. The fabricated pumps (length of 100 mm, inner diameter 4 mm, and mass 5.3 g) exhibit a high stretchability (up to 40% strain) and flow rate and pressure of 167.4 ± 7.6 mL/min (31.6 mL/min/g) and 4.1 ± 0.6 kPa (0.8 kPa/g), respectively. These performances are comparable or even higher than those of previously reported EHD pumps including fiber types. The output performance of the fabricated pumps remain constant for repeated strain cycles (0-25%, up to 2000 cycles) and bending angle up to 180° (corresponding to curvature of 0-30/m). Moreover, the pumps demonstrate unprecedented functionality as a sensor to distinguish the type of fluid inside the tube and to detect strains by reading the capacitance between the electrodes. The characterization result reveals the sensing ability of the pumps as high repeatability up to 30% strain with negligible hysteresis, which is consistent for 5000 cycles.
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Affiliation(s)
- Ryo Kanno
- Shintake Research Group, Department of Mechanical and Intelligent Systems Engineering, The University of Electro-Communications, 1-5-1 Chofugaoka, Chofu, Tokyo, 182-8585, Japan
- Swiss Federal Laboratories for Materials Science and Technology, 8600, Dübendorf, Switzerland
| | - Keita Shimizu
- Shintake Research Group, Department of Mechanical and Intelligent Systems Engineering, The University of Electro-Communications, 1-5-1 Chofugaoka, Chofu, Tokyo, 182-8585, Japan
| | - Kazuya Murakami
- Shintake Research Group, Department of Mechanical and Intelligent Systems Engineering, The University of Electro-Communications, 1-5-1 Chofugaoka, Chofu, Tokyo, 182-8585, Japan
| | - Yuya Shibahara
- Shintake Research Group, Department of Mechanical and Intelligent Systems Engineering, The University of Electro-Communications, 1-5-1 Chofugaoka, Chofu, Tokyo, 182-8585, Japan
| | - Naoki Ogawa
- Functional Design Laboratory, Science and Innovation Center, Mitsubishi Chemical Co., Ltd., 1000 Kamoshida-cho, Aoba-ku, Yokohama, Kanagawa, 227-8502, Japan
| | - Hideko Akai
- Functional Design Laboratory, Science and Innovation Center, Mitsubishi Chemical Co., Ltd., 1000 Kamoshida-cho, Aoba-ku, Yokohama, Kanagawa, 227-8502, Japan
| | - Jun Shintake
- Shintake Research Group, Department of Mechanical and Intelligent Systems Engineering, The University of Electro-Communications, 1-5-1 Chofugaoka, Chofu, Tokyo, 182-8585, Japan.
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Shimizu K, Murakami K, Ogawa N, Akai H, Shintake J. Polyvinyl chloride-added dibutyl adipate for high-performance electrohydrodynamic pumps. Front Robot AI 2023; 10:1109563. [PMID: 37064572 PMCID: PMC10090564 DOI: 10.3389/frobt.2023.1109563] [Citation(s) in RCA: 1] [Impact Index Per Article: 1.0] [Reference Citation Analysis] [Abstract] [Grants] [Track Full Text] [Journal Information] [Subscribe] [Scholar Register] [Received: 11/27/2022] [Accepted: 03/14/2023] [Indexed: 03/31/2023] Open
Abstract
Electrohydrodynamic (EHD) pumps are a promising driving source for various fluid-driven systems owing to features such as simple structure and silent operation. The performance of EHD pumps depends on the properties of the working fluid, such as conductivity, viscosity, and permittivity. This implies that the tuning of these parameters in a working fluid can enhance the EHD performance. This study reports a method to modify the properties of a liquid for EHD pumps by mixing an additive. Specifically, dibutyl adipate (DBA) and polyvinyl chloride (PVC) are employed as the working fluid and the additive, respectively. The results show that when the concentration of PVC is 0.2%, the flow rate and pressure at applied voltage of 8 kV take highest value of 7.85 μL/s and 1.63 kPa, respectively. These values correspond to an improvement of 109% and 40% for the flow rate and pressure, respectively, compared to the pure DBA (PVC 0%). When the voltage is 10 kV, the flow rate of 10.95 μL/s and the pressure of 2.07 kPa are observed for DBA with PVC concentration of 0.2%. These values are more than five times higher than those observed for FC40 at the same voltage (2.02 μL/s and 0.32 kPa). The results also suggest that optimal conductivity and viscosity values exist for maximizing the EHD performance of a liquid. This demonstrates the validity of the proposed method for realizing high-performance EHD pumps by using additives in the working fluid.
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Affiliation(s)
- Keita Shimizu
- Department of Mechanical and Intelligent Systems Engineering, School of Informatics and Engineering, The University of Electro-Communications, Chofu, Tokyo, Japan
| | - Kazuya Murakami
- Department of Mechanical and Intelligent Systems Engineering, School of Informatics and Engineering, The University of Electro-Communications, Chofu, Tokyo, Japan
| | - Naoki Ogawa
- Polymer Laboratory, Science and Innovation Center, Mitsubishi Chemical Co, Ltd., Yokohama-Shi, Kanagawa, Japan
| | - Hideko Akai
- Polymer Laboratory, Science and Innovation Center, Mitsubishi Chemical Co, Ltd., Yokohama-Shi, Kanagawa, Japan
| | - Jun Shintake
- Department of Mechanical and Intelligent Systems Engineering, School of Informatics and Engineering, The University of Electro-Communications, Chofu, Tokyo, Japan
- *Correspondence: Jun Shintake,
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Peng Y, Li D, Yang X, Ma Z, Mao Z. A Review on Electrohydrodynamic (EHD) Pump. MICROMACHINES 2023; 14:321. [PMID: 36838020 PMCID: PMC9963539 DOI: 10.3390/mi14020321] [Citation(s) in RCA: 4] [Impact Index Per Article: 4.0] [Reference Citation Analysis] [Abstract] [Key Words] [Track Full Text] [Figures] [Subscribe] [Scholar Register] [Received: 12/28/2022] [Revised: 01/16/2023] [Accepted: 01/23/2023] [Indexed: 06/18/2023]
Abstract
In recent years, functional fluidic and gas electrohydrodynamic (EHD) pumps have received considerable attention due to their remarkable features, such as simple structure, quiet operation, and energy-efficient utilization. EHD pumps can be applied in various industrial applications, including flow transfer, thermal management, and actuator drive. In this paper, the authors reviewed the literature surrounding functional fluidic and gas EHD pumps regarding the following aspects: the initial observation of the EHD effect, mathematical modeling, and the choice of pump structure, electrode configuration, and working medium. Based on the review, we present a summary of the development and latest research on EHD pumps. This paper provides a critical analysis of the current limitations of EHD pumps and identifies potential areas for future research. Additionally, the potential application of artificial intelligence in the field of EHD pumps is discussed in the context of its cross-disciplinary nature. Many reviews on EHD pumps focus on rigid pumps, and the contribution of this review is to summarize and analyze soft EHD pumps that have received less attention, thus reducing the knowledge gap.
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Affiliation(s)
- Yanhong Peng
- Department of Information and Communication Engineering, Graduate School of Engineering, Nagoya University, Furo-cho, Chikusa-ku, Nagoya 464-8603, Japan
| | - Dongze Li
- Department of Intelligent Science and Technology, College of Computer Science and Technology, Qingdao University, 308 Ning Xia Lu, Laoshan District, Qingdao 266071, China
| | - Xiaoyan Yang
- School of Computer Science, The University of Sydney, Sydney, NSW 2006, Australia
| | - Zisu Ma
- School of Computer Science, The University of Sydney, Sydney, NSW 2006, Australia
| | - Zebing Mao
- Department of Mechanical Engineering, Tokyo Institute of Technology, 2-12-1 Ookayama Meguro-Ku, Tokyo 152-8550, Japan
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Kozhevnikov IV, Bologa MK. Influence of Electrohydrodynamic Flows on Intensification of Heat- and Mass-Transfer Processes: Part 1. Electrohydrodynamic Flows and Characteristics of Single-Stage Electrohydrodynamic Pumps. SURFACE ENGINEERING AND APPLIED ELECTROCHEMISTRY 2022. [DOI: 10.3103/s1068375522040093] [Citation(s) in RCA: 0] [Impact Index Per Article: 0] [Reference Citation Analysis] [Track Full Text] [Journal Information] [Subscribe] [Scholar Register] [Indexed: 11/30/2022]
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Abe K, Seki Y, Kuwajima Y, Minaminosono A, Maeda S, Shigemune H. Low-Voltage Activation Based on Electrohydrodynamics in Positioning Systems for Untethered Robots. JOURNAL OF ROBOTICS AND MECHATRONICS 2022. [DOI: 10.20965/jrm.2022.p0351] [Citation(s) in RCA: 0] [Impact Index Per Article: 0] [Reference Citation Analysis] [Abstract] [Track Full Text] [Subscribe] [Scholar Register] [Indexed: 11/09/2022]
Abstract
In recent years, untethered soft robots, free of the lines that restrict their mobility, have been studied extensively. Our research team has been focusing on the electrohydrodynamic phenomena (EHD) as a driving mechanism for untethered robots. EHD is a phenomenon in which a flow is generated by applying a high voltage to a dielectric liquid. We propose a method to drive a robot in an untethered manner using EHD by vertically stacking two types of liquids: conductive and dielectric. This method is simpler, more energy-efficient, and quieter than conventional systems. Although a lower voltage would prevent the enlargement of the system by limiting the electronic components, the generation of EHD requires a high voltage. Therefore, in this study, to realize the low voltage drive of untethered robots dominated by the electrostatic actuator, we tackled the reduction of the driving voltage by investigating the phenomenon. As a result, we achieved low voltage driving at 15 V and successfully drove with off-the-shelf batteries (18 V). We also investigated the output current flowing through the system to reduce power consumption. Therefore, in addition to improving the energy efficiency of the system, we confirmed that the difference of the generated current depended on the thickness of the dielectric liquid and the concentration of the conductive liquid.
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Wiranata A, Ohsugi Y, Minaminosono A, Kuwajima Y, Maeda S. Electromechanical tensile test equipment for stretchable conductive materials. HARDWAREX 2022; 11:e00287. [PMID: 35509934 PMCID: PMC9058850 DOI: 10.1016/j.ohx.2022.e00287] [Citation(s) in RCA: 0] [Impact Index Per Article: 0] [Reference Citation Analysis] [Abstract] [Key Words] [Track Full Text] [Figures] [Subscribe] [Scholar Register] [Received: 10/06/2021] [Accepted: 03/03/2022] [Indexed: 06/14/2023]
Abstract
The demand for soft and conductive materials has intensified due to the increased interest in soft robotics. Consequently, researchers strive to realize easy, fast, and cost-effective fabrication methods. To evaluate the mechanical properties of materials requires tensile testing. However, the availability of an electromechanical tensile test to assess the quality of the electromechanical properties of stretchable conductive materials has yet to be widely commercialized. This situation has hindered the development of soft and stretchable conductive materials. Here, we develop a customized electromechanical tensile test for soft and stretchable materials. We integrate three standalone devices using Python software and provide a graphic user interface (GUI) for easy operation of the equipment. We expect that our customized electromechanical tensile test will contribute to advances in soft robotics, especially soft and stretchable sensors. Furthermore, our electromechanical setup can aid in the development of laboratory equipment and the understanding of the electromechanical properties of stretchable conductive materials.
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Affiliation(s)
- Ardi Wiranata
- Smart Materials Laboratory, Department of Engineering Science and Mechanics, Shibaura Institute of Technology, 3-7-5, Toyosu, Koto City, Tokyo 135-8548, Japan
- Department of Mechanical and Industrial Engineering, Universitas Gadjah Mada, Jalan Grafika No. 2, Yogyakarta 55281, Indonesia
| | - Yunosuke Ohsugi
- Smart Materials Laboratory, Department of Engineering Science and Mechanics, Shibaura Institute of Technology, 3-7-5, Toyosu, Koto City, Tokyo 135-8548, Japan
| | - Ayato Minaminosono
- Smart Materials Laboratory, Department of Engineering Science and Mechanics, Shibaura Institute of Technology, 3-7-5, Toyosu, Koto City, Tokyo 135-8548, Japan
| | - Yu Kuwajima
- Smart Materials Laboratory, Department of Engineering Science and Mechanics, Shibaura Institute of Technology, 3-7-5, Toyosu, Koto City, Tokyo 135-8548, Japan
| | - Shingo Maeda
- Smart Materials Laboratory, Department of Engineering Science and Mechanics, Shibaura Institute of Technology, 3-7-5, Toyosu, Koto City, Tokyo 135-8548, Japan
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Kuwajima Y, Seki Y, Yamada Y, Awaki S, Kamiyauchi S, Wiranata A, Okuno Y, Shigemune H, Maeda S. Electrochemical Dual Transducer for Fluidic Self-Sensing Actuation. ACS APPLIED MATERIALS & INTERFACES 2022; 14:3496-3503. [PMID: 34994533 DOI: 10.1021/acsami.1c21076] [Citation(s) in RCA: 2] [Impact Index Per Article: 1.0] [Reference Citation Analysis] [Abstract] [Key Words] [Track Full Text] [Subscribe] [Scholar Register] [Indexed: 06/14/2023]
Abstract
An electrochemical dual transducer (ECDT) based on a chemical reaction is a new fluidic machine for self-sensing actuation. Recently, incorporating sensors has enhanced the multifunctionality of soft robots with fluidic machines such as pumps or compressors. However, conventional fluidic systems have limitations such as heavy weight, noise, bloat, and complexity. In our previous research, we adopted small-sized, lightweight, and quiet electrohydrodynamic pumps for soft robots. In this paper, we propose a new ECDT by exploring the possibility of an electrohydrodynamic (EHD) pump to sense the flow of the working fluid. The current in the ECDT is proportional to 1/3 of the inflowing velocity. We also clarify its mechanism, mathematical model, range of detectable flow rate, sensitivity factor, relaxation time, response speed, and pumping characteristics. The advantages of the ECDT are their small size, light weight, simple fabrication process, extensibility of the sensing range, and sensitivity. We also demonstrate a suction cup driven by the ECDT, which can detect, hold, and release objects. We expect a bidirectional ECDT will realize a small, multifunctional, and straightforward fluidic system.
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Affiliation(s)
- Yu Kuwajima
- Department of Engineering Science and Mechanics, Shibaura Institute of Technology, 3-7-5 Toyosu, Koto-ku, Tokyo 135-8548, Japan
| | - Yumeta Seki
- Department of Engineering Science and Mechanics, Shibaura Institute of Technology, 3-7-5 Toyosu, Koto-ku, Tokyo 135-8548, Japan
| | - Yuhei Yamada
- Department of Engineering Science and Mechanics, Shibaura Institute of Technology, 3-7-5 Toyosu, Koto-ku, Tokyo 135-8548, Japan
| | - Satoshi Awaki
- Department of Engineering Science and Mechanics, Shibaura Institute of Technology, 3-7-5 Toyosu, Koto-ku, Tokyo 135-8548, Japan
| | - Shota Kamiyauchi
- Department of Electrical Engineering, Shibaura Institute of Technology, 3-7-5 Toyosu, Koto-ku, Tokyo 135-8548, Japan
| | - Ardi Wiranata
- Department of Electrical Engineering, Shibaura Institute of Technology, 3-7-5 Toyosu, Koto-ku, Tokyo 135-8548, Japan
- Department of Mechanical and Industrial Engineering, Universitas Gadjah Mada, Bulaksumur Yogyakarta 55281, Indonesia
| | - Yuto Okuno
- Department of Engineering Science and Mechanics, Shibaura Institute of Technology, 3-7-5 Toyosu, Koto-ku, Tokyo 135-8548, Japan
| | - Hiroki Shigemune
- Department of Electrical Engineering, Shibaura Institute of Technology, 3-7-5 Toyosu, Koto-ku, Tokyo 135-8548, Japan
| | - Shingo Maeda
- Department of Engineering Science and Mechanics, Shibaura Institute of Technology, 3-7-5 Toyosu, Koto-ku, Tokyo 135-8548, Japan
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Murakami T, Kuwajima Y, Wiranata A, Minaminosono A, Shigemune H, Mao Z, Maeda S. A DIY Fabrication Approach for Ultra-Thin Focus-Tunable Liquid Lens Using Electrohydrodynamic Pump. MICROMACHINES 2021; 12:mi12121452. [PMID: 34945301 PMCID: PMC8706613 DOI: 10.3390/mi12121452] [Citation(s) in RCA: 2] [Impact Index Per Article: 0.7] [Reference Citation Analysis] [Abstract] [Key Words] [Track Full Text] [Download PDF] [Figures] [Subscribe] [Scholar Register] [Received: 10/30/2021] [Revised: 11/19/2021] [Accepted: 11/25/2021] [Indexed: 11/16/2022]
Abstract
Demand for variable focus lens is increasing these days due to the rapid development of smart mobile devices and drones. However, conventional mechanical systems for lenses are generally complex, cumbersome, and rigid (e.g., for motors and gears). This research proposes a simple and compact liquid lens controlled by an electro hydro dynamics (EHD) pump. In our study, we propose a do-it-yourself (DIY) method to fabricate the low-cost EHD lens. The EHD lens consists of a polypropylene (PP) sheet for the exterior, a copper sheet for the electrodes, and an acrylic elastomer for the fluidic channel where dielectric fluid and pure water are filled. We controlled the lens magnification by changing the curvature of the liquid interface between the dielectric fluid and pure water. We evaluated the magnification performance of the lens. Moreover, we also established a numerical model to characterize the lens performance. We expect to contribute to the miniaturization of focus-tunable lenses.
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Affiliation(s)
- Taichi Murakami
- Department of Mechanical Engineering, Shibaura Institute of Technology, Tokyo 135-8548, Japan; (Y.K.); (A.W.); (A.M.)
- Correspondence: (T.M.); (Z.M.); (S.M.)
| | - Yu Kuwajima
- Department of Mechanical Engineering, Shibaura Institute of Technology, Tokyo 135-8548, Japan; (Y.K.); (A.W.); (A.M.)
| | - Ardi Wiranata
- Department of Mechanical Engineering, Shibaura Institute of Technology, Tokyo 135-8548, Japan; (Y.K.); (A.W.); (A.M.)
- Department of Mechanical and Industrial Engineering, Faculty of Engineering, University of Gadjah Mada, Jalan Grafika No. 2, Yogyakarta 55281, Indonesia
| | - Ayato Minaminosono
- Department of Mechanical Engineering, Shibaura Institute of Technology, Tokyo 135-8548, Japan; (Y.K.); (A.W.); (A.M.)
| | - Hiroki Shigemune
- Department of Electrical Engineering, Shibaura Institute of Technology, Tokyo 135-8548, Japan;
| | - Zebing Mao
- Department of Mechanical Engineering, Shibaura Institute of Technology, Tokyo 135-8548, Japan; (Y.K.); (A.W.); (A.M.)
- Correspondence: (T.M.); (Z.M.); (S.M.)
| | - Shingo Maeda
- Department of Mechanical Engineering, Shibaura Institute of Technology, Tokyo 135-8548, Japan; (Y.K.); (A.W.); (A.M.)
- Correspondence: (T.M.); (Z.M.); (S.M.)
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Wiranata A, Ohsugi Y, Minaminosono A, Mao Z, Kurata H, Hosoya N, Maeda S. A DIY Fabrication Approach of Stretchable Sensors Using Carbon Nano Tube Powder for Wearable Device. Front Robot AI 2021; 8:773056. [PMID: 34859060 PMCID: PMC8632443 DOI: 10.3389/frobt.2021.773056] [Citation(s) in RCA: 2] [Impact Index Per Article: 0.7] [Reference Citation Analysis] [Abstract] [Key Words] [Grants] [Track Full Text] [Download PDF] [Figures] [Journal Information] [Subscribe] [Scholar Register] [Received: 09/09/2021] [Accepted: 10/12/2021] [Indexed: 12/25/2022] Open
Abstract
Soft robotics and wearable devices are promising technologies due to their flexibility. As human-soft robot interaction technologies advance, the interest in stretchable sensor devices has increased. Currently, the main challenge in developing stretchable sensors is preparing high-quality sensors via a simple and cost-effective method. This study introduces the do-it-yourself (DIY)-approach to fabricate a carbon nanotube (CNT) powder-based stretchable sensor. The fabrication strategy utilizes an automatic brushing machine to pattern CNT powder on the elastomer. The elastomer ingredients are optimized to increase the elastomer compatibility with the brushing method. We found that polydimethylsiloxane-polyethyleneimine (PDMS-PEIE) is 50% more stretchable and 63% stickier than previously reported PDMS 30-1. With these improved elastomer characteristics, PDMS-PEIE/multiwalled CNT (PDMS-PEIE/MWCNT-1) strain sensor can realize a gauge factor of 6.2-8.2 and a responsivity up to 25 ms. To enhance the compatibility of the powder-based stretchable sensor for a wearable device, the sensor is laminated using a thin Ecoflex membrane. Additionally, system integration of the stretchable sensors are demonstrated by embedding it into a cotton-glove and a microcontroller to control a virtual hand. This cost-effective DIY-approach are expected to greatly contribute to the development of wearable devices since the technology is simple, economical, and reliable.
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Affiliation(s)
- Ardi Wiranata
- Smart Materials Laboratory, Department of Engineering Science and Mechanics, Shibaura Institute of Technology, Tokyo, Japan
- Department of Mechanical and Industrial Engineering, Universitas Gadjah Mada, Yogyakarta, Indonesia
| | - Yunosuke Ohsugi
- Smart Materials Laboratory, Department of Engineering Science and Mechanics, Shibaura Institute of Technology, Tokyo, Japan
| | - Ayato Minaminosono
- Smart Materials Laboratory, Department of Engineering Science and Mechanics, Shibaura Institute of Technology, Tokyo, Japan
| | - Zebing Mao
- Smart Materials Laboratory, Department of Engineering Science and Mechanics, Shibaura Institute of Technology, Tokyo, Japan
| | - Haruyuki Kurata
- Department of Engineering Science and Mechanics Shibaura Institute of Technology, Tokyo, Japan
| | - Naoki Hosoya
- Department of Engineering Science and Mechanics Shibaura Institute of Technology, Tokyo, Japan
| | - Shingo Maeda
- Smart Materials Laboratory, Department of Engineering Science and Mechanics, Shibaura Institute of Technology, Tokyo, Japan
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Thongking W, Wiranata A, Minaminosono A, Mao Z, Maeda S. Soft Robotic Gripper Based on Multi-Layers of Dielectric Elastomer Actuators. JOURNAL OF ROBOTICS AND MECHATRONICS 2021. [DOI: 10.20965/jrm.2021.p0968] [Citation(s) in RCA: 9] [Impact Index Per Article: 3.0] [Reference Citation Analysis] [Abstract] [Track Full Text] [Subscribe] [Scholar Register] [Indexed: 12/15/2022]
Abstract
Dielectric elastomer actuators (DEAs) are a promising technology for soft robotics. The use of DEAs has many advantages, including light weight, resilience, and fast response for its applications, such as grippers, artificial muscles, and heel strike generators. Grippers are commonly used as grasping devices. In this study, we focus on DEA applications and propose a technology to expand the applicability of a soft gripper. The advantages of gripper-based DEAs include light weight, fast response, and low cost. We fabricated soft grippers using multiple DEA layers. The grippers successfully held or gripped an object, and we investigated the response time of the grippers and their angle characteristics. We studied the relationship between the number of DEA layers and the performance of our grippers. Our experimental results show that the multi-layered DEAs have the potential to be strong grippers.
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