Modeling and Design Optimization of a Rotational Soft Robotic System Driven by Double Cone Dielectric Elastomer Actuators

Fiber-Reinforced Equibiaxial Dielectric Elastomer Actuator for Out-of-Plane Displacement

Dielectric elastomer actuators (DEAs) have gained significant attention due to their potential in soft robotics and adaptive structures. However, their performance is often limited by their in-plane strain distribution and limited mechanical stability. We introduce a novel design utilizing fiber reinforcement to address these challenges. The fiber reinforcement provides enhanced mechanical integrity and improved strain distribution, enabling efficient energy conversion and out-of-plane displacement. We discuss an analytical model and the fabrication process, including material selection, to realize fiber-reinforced DEAs. Numerical simulations and experimental results demonstrate the performance of the fiber-reinforced equibiaxial DEAs and characterize their displacement and force capabilities. Actuators with four and eight fibers are fabricated with 100 μm and 200 μm dielectric thicknesses. A maximal out-of-plane displacement of 500 μm is reached, with a force of 0.18 N, showing promise for the development of haptic devices.

Effects of Electrode Materials and Compositions on the Resistance Behavior of Dielectric Elastomer Transducers

Dielectric elastomer (DE) transducers possess various advantages in comparison to alternative actuator technologies, such as, e.g., electromagnetic drive systems. DE can achieve large deformations, high driving frequencies, and are energy efficient. DEs consist of a dielectric membrane sandwiched between conductive electrodes. Electrodes are especially important for performance, as they must maintain high electrical conductivity while being subjected to large stretches. Low electrical resistances allow faster actuation frequencies. Additionally, a rate-independent, monotonic, and hysteresis-free resistance behavior over large elongations enables DEs to be used as resistive deformation sensors, in contrast to the conventional capacitive ones. This paper presents a systematic study on various electrode compositions consisting of different polydimethylsiloxane (PDMS) and nano-scaled carbon blacks (CB). The experiments show that the electrode resistance depends on the weight ratio of CB to PDMS, and the type of CB used. At low ratios, a high electrical resistance accompanied by a bimodal behavior in the resistance time evolution was observed, when stretching the electrodes cyclic in a triangular manner. This phenomenon decreases with increasing CB ratio. The type of PDMS also influences the resistance characteristics during elongation. Finally, a physical model of the observed phenomenon is presented.

Concepts and clinical aspects of active implants for the treatment of bone fractures

Nonunion is a complication of long bone fractures that leads to disability, morbidity and high costs. Early detection is difficult and treatment through external stimulation and revision surgery is often a lengthy process. Therefore, alternative diagnostic and therapeutic options are currently being explored, including the use of external and internal sensors. Apart from monitoring fracture stiffness and displacement directly at the fracture site, it would be desirable if an implant could also vary its stiffness and apply an intervention to promote healing, if needed. This could be achieved either by a predetermined protocol, by remote control, or even by processing data and triggering the intervention itself (self-regulated 'intelligent' or 'smart' implant). So-called active or smart materials like shape memory alloys (SMA) have opened up opportunities to build active implants. For example, implants could stimulate fracture healing by active shortening and lengthening via SMA actuator wires; by emitting pulses, waves, or electromagnetic fields. However, it remains undefined which modes of application, forces, frequencies, force directions, time durations and periods, or other stimuli such implants should ideally deliver for the best result. The present paper reviews the literature on active implants and interventions for nonunion, discusses possible mechanisms of active implants and points out where further research and development are needed to build an active implant that applies the most ideal intervention. STATEMENT OF SIGNIFICANCE: Early detection of delays during fracture healing and timely intervention are difficult due to limitations of the current diagnostic strategies. New diagnostic options are under evaluation, including the use of external and internal sensors. In addition, it would be desirable if an implant could actively facilitate healing ('Intelligent' or 'smart' implant). Implants could stimulate fracture healing via active shortening and lengthening; by emitting pulses, waves, or electromagnetic fields. No such implants exist to date, but new composite materials and alloys have opened up opportunities to build such active implants, and several groups across the globe are currently working on their development. The present paper is the first review on this topic to date.

Design, Manufacturing, and Characterization of Thin, Core-Free, Rolled Dielectric Elastomer Actuators

In this work, we develop a coreless rolled dielectric elastomer actuator (CORDEA) to be used as artificial muscles in soft robotic structures. The new CORDEA concept is based on a 50 µm silicone film with screen-printed electrodes made of carbon black suspended in polydimethylsiloxane. Two printed silicone films are stacked together and then tightly rolled in a spiral-like structure. Readily available off-the-shelf components are used to implement both electrical and mechanical contacts. A novel manufacturing process is developed to enable the production of rolled actuators without a hollow core, with a focus on simplicity and reliability. In this way, actuator systems with high energy density can be effectively achieved. After presenting the design, an experimental evaluation of the CORDEA electromechanical behavior is performed. Finally, actuator experiments in which the CORDEA is pre-loaded with a mass load and subsequently subject to cycling voltage are illustrated, and the resulting performance is discussed.