1
|
Dai H, Zhang C, Hu H, Hu Z, Sun H, Liu K, Li T, Fu J, Zhao P, Yang H. Biomimetic Hydrodynamic Sensor with Whisker Array Architecture and Multidirectional Perception Ability. ADVANCED SCIENCE (WEINHEIM, BADEN-WURTTEMBERG, GERMANY) 2024:e2405276. [PMID: 39119873 DOI: 10.1002/advs.202405276] [Citation(s) in RCA: 0] [Impact Index Per Article: 0] [Reference Citation Analysis] [Abstract] [Key Words] [Grants] [Track Full Text] [Subscribe] [Scholar Register] [Received: 05/14/2024] [Revised: 07/16/2024] [Indexed: 08/10/2024]
Abstract
The rapid development of ocean exploration and underwater robot technology has put forward new requirements for underwater sensing methods, which can be used for hydrodynamic characteristics perception, underwater target tracking, and even underwater cluster communication. Here, inspired by the specialized undulated surface structure of the seal whisker and its ability to suppress vortex-induced vibration, a multidirectional hydrodynamic sensor based on biomimetic whisker array structure and magnetic 3D self-decoupling theory is introduced. The magnetic-based sensing method enables wireless connectivity between the magnetic functional structures and electronics, simplifying device design and endowing complete watertightness. The 3D self-decoupling capability enables the sensor, like a seal or other organisms, to perceive arbitrary whisker motions caused by the action of water flow without complex calibration and additional sensing units. The whisker sensor is capable of detecting a variety of hydrodynamic information, including the velocity (RMSE < 0.061 m s-1) and direction of the steady flow field, the frequency (error < 0.05 Hz) of the dynamic vortex wake, and the orientation (error < 7°) of the vortex wake source, demonstrating its extensive potential for underwater environmental perception and communication, especially in deep sea conditions.
Collapse
Affiliation(s)
- Huangzhe Dai
- The State Key Laboratory of Fluid Power and Mechatronic Systems, Zhejiang University, Hangzhou, 310027, China
- The Key Laboratory of 3D Printing Process and Equipment of Zhejiang Province, College of Mechanical Engineering, Zhejiang University, Hangzhou, 310027, China
| | - Chengqian Zhang
- The State Key Laboratory of Fluid Power and Mechatronic Systems, Zhejiang University, Hangzhou, 310027, China
| | - Hao Hu
- The State Key Laboratory of Fluid Power and Mechatronic Systems, Zhejiang University, Hangzhou, 310027, China
- The Key Laboratory of 3D Printing Process and Equipment of Zhejiang Province, College of Mechanical Engineering, Zhejiang University, Hangzhou, 310027, China
| | - Zhezai Hu
- The State Key Laboratory of Fluid Power and Mechatronic Systems, Zhejiang University, Hangzhou, 310027, China
- The Key Laboratory of 3D Printing Process and Equipment of Zhejiang Province, College of Mechanical Engineering, Zhejiang University, Hangzhou, 310027, China
| | - Haonan Sun
- The State Key Laboratory of Fluid Power and Mechatronic Systems, Zhejiang University, Hangzhou, 310027, China
- The Key Laboratory of 3D Printing Process and Equipment of Zhejiang Province, College of Mechanical Engineering, Zhejiang University, Hangzhou, 310027, China
| | - Kan Liu
- The State Key Laboratory of Fluid Power and Mechatronic Systems, Zhejiang University, Hangzhou, 310027, China
| | - Tiefeng Li
- The State Key Laboratory of Fluid Power and Mechatronic Systems, Zhejiang University, Hangzhou, 310027, China
- Center for X-Mechanics, Department of Engineering Mechanics, Zhejiang University, Hangzhou, 310027, China
| | - Jianzhong Fu
- The State Key Laboratory of Fluid Power and Mechatronic Systems, Zhejiang University, Hangzhou, 310027, China
- The Key Laboratory of 3D Printing Process and Equipment of Zhejiang Province, College of Mechanical Engineering, Zhejiang University, Hangzhou, 310027, China
| | - Peng Zhao
- The State Key Laboratory of Fluid Power and Mechatronic Systems, Zhejiang University, Hangzhou, 310027, China
- The Key Laboratory of 3D Printing Process and Equipment of Zhejiang Province, College of Mechanical Engineering, Zhejiang University, Hangzhou, 310027, China
| | - Huayong Yang
- The State Key Laboratory of Fluid Power and Mechatronic Systems, Zhejiang University, Hangzhou, 310027, China
| |
Collapse
|
2
|
Xian W, Zhan YS, Maiti A, Saab AP, Li Y. Filled Elastomers: Mechanistic and Physics-Driven Modeling and Applications as Smart Materials. Polymers (Basel) 2024; 16:1387. [PMID: 38794580 PMCID: PMC11125212 DOI: 10.3390/polym16101387] [Citation(s) in RCA: 0] [Impact Index Per Article: 0] [Reference Citation Analysis] [Abstract] [Key Words] [Grants] [Track Full Text] [Journal Information] [Subscribe] [Scholar Register] [Received: 04/15/2024] [Revised: 05/06/2024] [Accepted: 05/07/2024] [Indexed: 05/26/2024] Open
Abstract
Elastomers are made of chain-like molecules to form networks that can sustain large deformation. Rubbers are thermosetting elastomers that are obtained from irreversible curing reactions. Curing reactions create permanent bonds between the molecular chains. On the other hand, thermoplastic elastomers do not need curing reactions. Incorporation of appropriated filler particles, as has been practiced for decades, can significantly enhance mechanical properties of elastomers. However, there are fundamental questions about polymer matrix composites (PMCs) that still elude complete understanding. This is because the macroscopic properties of PMCs depend not only on the overall volume fraction (ϕ) of the filler particles, but also on their spatial distribution (i.e., primary, secondary, and tertiary structure). This work aims at reviewing how the mechanical properties of PMCs are related to the microstructure of filler particles and to the interaction between filler particles and polymer matrices. Overall, soft rubbery matrices dictate the elasticity/hyperelasticity of the PMCs while the reinforcement involves polymer-particle interactions that can significantly influence the mechanical properties of the polymer matrix interface. For ϕ values higher than a threshold, percolation of the filler particles can lead to significant reinforcement. While viscoelastic behavior may be attributed to the soft rubbery component, inelastic behaviors like the Mullins and Payne effects are highly correlated to the microstructures of the polymer matrix and the filler particles, as well as that of the polymer-particle interface. Additionally, the incorporation of specific filler particles within intelligently designed polymer systems has been shown to yield a variety of functional and responsive materials, commonly termed smart materials. We review three types of smart PMCs, i.e., magnetoelastic (M-), shape-memory (SM-), and self-healing (SH-) PMCs, and discuss the constitutive models for these smart materials.
Collapse
Affiliation(s)
- Weikang Xian
- Department of Mechanical Engineering, University of Wisconsin-Madison, Madison, WI 53706, USA; (W.X.); (Y.-S.Z.)
| | - You-Shu Zhan
- Department of Mechanical Engineering, University of Wisconsin-Madison, Madison, WI 53706, USA; (W.X.); (Y.-S.Z.)
| | - Amitesh Maiti
- Lawrence Livermore National Laboratory, Livermore, CA 94550, USA; (A.M.); (A.P.S.)
| | - Andrew P. Saab
- Lawrence Livermore National Laboratory, Livermore, CA 94550, USA; (A.M.); (A.P.S.)
| | - Ying Li
- Department of Mechanical Engineering, University of Wisconsin-Madison, Madison, WI 53706, USA; (W.X.); (Y.-S.Z.)
| |
Collapse
|
3
|
Dai H, Zhang C, Pan C, Hu H, Ji K, Sun H, Lyu C, Tang D, Li T, Fu J, Zhao P. Split-Type Magnetic Soft Tactile Sensor with 3D Force Decoupling. ADVANCED MATERIALS (DEERFIELD BEACH, FLA.) 2024; 36:e2310145. [PMID: 38016424 DOI: 10.1002/adma.202310145] [Citation(s) in RCA: 0] [Impact Index Per Article: 0] [Reference Citation Analysis] [Abstract] [Key Words] [MESH Headings] [Grants] [Track Full Text] [Subscribe] [Scholar Register] [Received: 09/30/2023] [Revised: 11/15/2023] [Indexed: 11/30/2023]
Abstract
Tactile sensory organs for sensing 3D force, such as human skin and fish lateral lines, are indispensable for organisms. With their sensory properties enhanced by layered structures, typical sensory organs can achieve excellent perception as well as protection under frequent mechanical contact. Here, inspired by these layered structures, a split-type magnetic soft tactile sensor with wireless 3D force sensing and a high accuracy (1.33%) fabricated by developing a centripetal magnetization arrangement and theoretical decoupling model is introduced. The 3D force decoupling capability enables it to achieve a perception close to that of human skin in multiple dimensions without complex calibration. Benefiting from the 3D force decoupling capability and split design with a long effective distance (>20 mm), several sensors are assembled in air and water to achieve delicate robotic operation and water flow-based navigation with an offset <1.03%, illustrating the extensive potential of magnetic tactile sensors in flexible electronics, human-machine interactions, and bionic robots.
Collapse
Affiliation(s)
- Huangzhe Dai
- The State Key Laboratory of Fluid Power and Mechatronic Systems, College of Mechanical Engineering, Zhejiang University, Hangzhou, 310027, China
- The Key Laboratory of 3D Printing Process and Equipment of Zhejiang Province, College of Mechanical Engineering, Zhejiang University, Hangzhou, 310027, China
| | - Chengqian Zhang
- The State Key Laboratory of Fluid Power and Mechatronic Systems, College of Mechanical Engineering, Zhejiang University, Hangzhou, 310027, China
- Center for X-Mechanics, Department of Engineering Mechanics, Zhejiang University, Hangzhou, 310027, China
| | - Chengfeng Pan
- The State Key Laboratory of Fluid Power and Mechatronic Systems, College of Mechanical Engineering, Zhejiang University, Hangzhou, 310027, China
- The Key Laboratory of 3D Printing Process and Equipment of Zhejiang Province, College of Mechanical Engineering, Zhejiang University, Hangzhou, 310027, China
| | - Hao Hu
- The State Key Laboratory of Fluid Power and Mechatronic Systems, College of Mechanical Engineering, Zhejiang University, Hangzhou, 310027, China
- The Key Laboratory of 3D Printing Process and Equipment of Zhejiang Province, College of Mechanical Engineering, Zhejiang University, Hangzhou, 310027, China
| | - Kaipeng Ji
- The State Key Laboratory of Fluid Power and Mechatronic Systems, College of Mechanical Engineering, Zhejiang University, Hangzhou, 310027, China
- The Key Laboratory of 3D Printing Process and Equipment of Zhejiang Province, College of Mechanical Engineering, Zhejiang University, Hangzhou, 310027, China
| | - Haonan Sun
- The State Key Laboratory of Fluid Power and Mechatronic Systems, College of Mechanical Engineering, Zhejiang University, Hangzhou, 310027, China
- The Key Laboratory of 3D Printing Process and Equipment of Zhejiang Province, College of Mechanical Engineering, Zhejiang University, Hangzhou, 310027, China
| | - Chenxin Lyu
- The State Key Laboratory of Fluid Power and Mechatronic Systems, College of Mechanical Engineering, Zhejiang University, Hangzhou, 310027, China
- The Key Laboratory of 3D Printing Process and Equipment of Zhejiang Province, College of Mechanical Engineering, Zhejiang University, Hangzhou, 310027, China
| | - Daofan Tang
- The State Key Laboratory of Fluid Power and Mechatronic Systems, College of Mechanical Engineering, Zhejiang University, Hangzhou, 310027, China
- The Key Laboratory of 3D Printing Process and Equipment of Zhejiang Province, College of Mechanical Engineering, Zhejiang University, Hangzhou, 310027, China
| | - Tiefeng Li
- The State Key Laboratory of Fluid Power and Mechatronic Systems, College of Mechanical Engineering, Zhejiang University, Hangzhou, 310027, China
- Center for X-Mechanics, Department of Engineering Mechanics, Zhejiang University, Hangzhou, 310027, China
| | - Jianzhong Fu
- The State Key Laboratory of Fluid Power and Mechatronic Systems, College of Mechanical Engineering, Zhejiang University, Hangzhou, 310027, China
- The Key Laboratory of 3D Printing Process and Equipment of Zhejiang Province, College of Mechanical Engineering, Zhejiang University, Hangzhou, 310027, China
| | - Peng Zhao
- The State Key Laboratory of Fluid Power and Mechatronic Systems, College of Mechanical Engineering, Zhejiang University, Hangzhou, 310027, China
- The Key Laboratory of 3D Printing Process and Equipment of Zhejiang Province, College of Mechanical Engineering, Zhejiang University, Hangzhou, 310027, China
| |
Collapse
|
4
|
Sun R, Zou Z, Yan R, Shou M, Zhang H, Zeng S, Feng H, Liao C. Magnetically Induced Grid Structure for Enhancing the Performance of a Dual-Mode Flexible Sensor with Tactile/Touchless Perception. ACS APPLIED MATERIALS & INTERFACES 2023; 15:59876-59886. [PMID: 38105477 DOI: 10.1021/acsami.3c16240] [Citation(s) in RCA: 0] [Impact Index Per Article: 0] [Reference Citation Analysis] [Abstract] [Key Words] [Track Full Text] [Subscribe] [Scholar Register] [Indexed: 12/19/2023]
Abstract
As an advanced sensing technology, dual-mode flexible sensing, integrating both tactile and touchless perception, propels numerous intelligent devices toward a more practical and efficient direction. The ability to incorporate multiple sensing modes and accurately distinguish them in real time has become crucial for technological advancements. Here, we proposed a dual-mode sensing system (B-MIGS) consisting of a dual-layer sensing device with a magnetically induced grid structure and a testing device. The system was capable of utilizing mechanical pressure to perceive tactile stimulation and magnetic sensing to simultaneously transduce touchless stimulation simultaneously. By leveraging the triboelectric effect, the decoupling of tactile and touchless signals in the presence of unknown signal sources was achieved. Additionally, the sensing characteristics of the B-MIGS were optimized by varying the curing magnetic induction intensity and magnetic particle concentration. The influence of the temperature and humidity on the sensing signals was also discussed. Finally, the practical value of the B-MIGS as a dual-mode monitoring system was demonstrated on soft petals and sensor arrays, along with exploration of its potential application in underwater environments.
Collapse
Affiliation(s)
- Ruixue Sun
- School of Automation, Chongqing University of Posts and Telecommunications, Chongqing 400065, China
| | - Zhiyuan Zou
- Key Laboratory of Optoelectronic Technology & Systems, Ministry of Education, Chongqing University, Chongqing 400044, China
| | - Ruohan Yan
- College of Forestry, Henan Agricultural University, Zhengzhou 450002, China
| | - Mengjie Shou
- School of Automation, Chongqing University of Posts and Telecommunications, Chongqing 400065, China
| | - Honghui Zhang
- Key Laboratory of Optoelectronic Technology & Systems, Ministry of Education, Chongqing University, Chongqing 400044, China
| | - Suhua Zeng
- College of Computer Science and Technology, Chongqing University of Posts and Telecommunications, Chongqing 400065, China
| | - Huizong Feng
- School of Automation, Chongqing University of Posts and Telecommunications, Chongqing 400065, China
| | - Changrong Liao
- Key Laboratory of Optoelectronic Technology & Systems, Ministry of Education, Chongqing University, Chongqing 400044, China
| |
Collapse
|
5
|
Reiche M, Becker TI, Stepanov GV, Zimmermann K. A Multipole Magnetoactive Elastomer for Vibration-Driven Locomotion. Soft Robot 2023; 10:770-784. [PMID: 37010374 DOI: 10.1089/soro.2022.0106] [Citation(s) in RCA: 0] [Impact Index Per Article: 0] [Reference Citation Analysis] [Abstract] [Key Words] [Track Full Text] [Journal Information] [Subscribe] [Scholar Register] [Indexed: 04/04/2023] Open
Abstract
Smart materials such as magnetoactive elastomers (MAEs) combine elastic and magnetic properties that can be significantly changed in response to a magnetic field and therefore offer enormous potential for applications in both scientific research and engineering. When such an elastomer contains microsized hard magnetic particles, it can become an elastic magnet once magnetized in a strong magnetic field. This article studies a multipole MAE with the aim of utilizing it as an actuation element of vibration-driven locomotion robots. The elastomer beam has three magnetic poles overall with the same poles at the ends and possesses silicone bristles protruding from its underside. The quasi-static bending of the multipole elastomer in a uniform magnetic field is investigated experimentally. The theoretical model exploits the magnetic torque to describe the field-induced bending shapes. The unidirectional locomotion of the elastomeric bristle-bot is realized in two prototype designs using magnetic actuation of either an external or an integrated source of an alternating magnetic field. The motion principle is based on cyclic interplay of asymmetric friction and inertia forces caused by field-induced bending vibrations of the elastomer. The locomotion behavior of both prototypes shows a strong resonant dependency of the advancing speed on the frequency of applied magnetic actuation.
Collapse
Affiliation(s)
- Marius Reiche
- Technical Mechanics Group, Faculty of Mechanical Engineering, Technische Universität Ilmenau, Ilmenau, Germany
| | - Tatiana I Becker
- Technical Mechanics Group, Faculty of Mechanical Engineering, Technische Universität Ilmenau, Ilmenau, Germany
| | - Gennady V Stepanov
- State Scientific Research Institute for Chemical Technologies of Organoelement Compounds, Moscow, Russia
| | - Klaus Zimmermann
- Technical Mechanics Group, Faculty of Mechanical Engineering, Technische Universität Ilmenau, Ilmenau, Germany
| |
Collapse
|
6
|
Man J, Zhang J, Chen G, Xue N, Chen J. A tactile and airflow motion sensor based on flexible double-layer magnetic cilia. MICROSYSTEMS & NANOENGINEERING 2023; 9:12. [PMID: 36688091 PMCID: PMC9845383 DOI: 10.1038/s41378-022-00478-9] [Citation(s) in RCA: 3] [Impact Index Per Article: 3.0] [Reference Citation Analysis] [Abstract] [Key Words] [Grants] [Track Full Text] [Figures] [Subscribe] [Scholar Register] [Indexed: 06/17/2023]
Abstract
Inspired by the concept of bionics, a tactile and airflow motion sensor based on flexible double-layer magnetic cilia is developed, showing extremely high sensitivity in both force and airflow detection. The upper layer of the magnetic cilia is a flexible material mixed with magnetic particles, while the lower layer is a pure flexible material. This double-layer structure significantly improves magnetism while maintaining cilia flexibility. In addition, a metal tube pressing (MTP) method is proposed to overcome the difficulties in preparing large aspect ratio (over 30:1) cilia, offering simplicity and avoiding the use of large-scale MEMS instruments. The developed sensor has a detection range between 0 and 60 µN with a resolution of 2.1 µN for micro forces. It also shows great detection ability for airflow velocity with a sensitivity of 1.43 µT/(m/s). Experiments show that the sensor could be applied in surface roughness characterization and sleep apnea monitoring.
Collapse
Affiliation(s)
- Jiandong Man
- State Key Laboratory of Transducer Technology, Aerospace Information Research Institute, Chinese Academy of Sciences, 100190 Beijing, People’s Republic of China
- School of Electronic, Electrical and Communication Engineering, University of Chinese Academy of Sciences, 100049 Beijing, People’s Republic of China
| | - Junjie Zhang
- State Key Laboratory of Transducer Technology, Aerospace Information Research Institute, Chinese Academy of Sciences, 100190 Beijing, People’s Republic of China
- School of Electronic, Electrical and Communication Engineering, University of Chinese Academy of Sciences, 100049 Beijing, People’s Republic of China
| | - Guangyuan Chen
- State Key Laboratory of Transducer Technology, Aerospace Information Research Institute, Chinese Academy of Sciences, 100190 Beijing, People’s Republic of China
| | - Ning Xue
- State Key Laboratory of Transducer Technology, Aerospace Information Research Institute, Chinese Academy of Sciences, 100190 Beijing, People’s Republic of China
- School of Electronic, Electrical and Communication Engineering, University of Chinese Academy of Sciences, 100049 Beijing, People’s Republic of China
| | - Jiamin Chen
- State Key Laboratory of Transducer Technology, Aerospace Information Research Institute, Chinese Academy of Sciences, 100190 Beijing, People’s Republic of China
- School of Electronic, Electrical and Communication Engineering, University of Chinese Academy of Sciences, 100049 Beijing, People’s Republic of China
| |
Collapse
|
7
|
Man J, Chen G, Chen J. Recent Progress of Biomimetic Tactile Sensing Technology Based on Magnetic Sensors. BIOSENSORS 2022; 12:bios12111054. [PMID: 36421172 PMCID: PMC9688171 DOI: 10.3390/bios12111054] [Citation(s) in RCA: 3] [Impact Index Per Article: 1.5] [Reference Citation Analysis] [Abstract] [Key Words] [MESH Headings] [Track Full Text] [Subscribe] [Scholar Register] [Received: 10/20/2022] [Revised: 11/08/2022] [Accepted: 11/17/2022] [Indexed: 05/14/2023]
Abstract
In the past two decades, biomimetic tactile sensing technology has been a hot spot in academia. It has prospective applications in many fields such as medical treatment, health monitoring, robot tactile feedback, and human-machine interaction. With the rapid development of magnetic sensors, biomimetic tactile sensing technology based on magnetic sensors (which are called magnetic tactile sensors below) has been widely studied in recent years. In order to clarify the development status and application characteristics of magnetic tactile sensors, this paper firstly reviews the magnetic tactile sensors from three aspects: the types of magnetic sensors, the sources of magnetic field, and the structures of sensitive bodies used in magnetic tactile sensors. Secondly, the development of magnetic tactile sensors in four applications of robot precision grasping, texture characterization, flow velocity measurement, and medical treatment is introduced in detail. Finally, this paper analyzes technical difficulties and proposes prospective research directions for magnetic tactile sensors.
Collapse
Affiliation(s)
- Jiandong Man
- State Key Laboratory of Transducer Technology, Aerospace Information Research Institute, Chinese Academy of Sciences, Beijing 100190, China
- School of Electronic, Electrical and Communication Engineering, University of Chinese Academy of Sciences, Beijing 100049, China
| | - Guangyuan Chen
- State Key Laboratory of Transducer Technology, Aerospace Information Research Institute, Chinese Academy of Sciences, Beijing 100190, China
| | - Jiamin Chen
- State Key Laboratory of Transducer Technology, Aerospace Information Research Institute, Chinese Academy of Sciences, Beijing 100190, China
- School of Electronic, Electrical and Communication Engineering, University of Chinese Academy of Sciences, Beijing 100049, China
- Correspondence: ; Tel.: +86-134-3630-0143
| |
Collapse
|
8
|
Ganguly S, Margel S. 3D printed magnetic polymer composite hydrogels for hyperthermia and magnetic field driven structural manipulation. Prog Polym Sci 2022. [DOI: 10.1016/j.progpolymsci.2022.101574] [Citation(s) in RCA: 4] [Impact Index Per Article: 2.0] [Reference Citation Analysis] [Track Full Text] [Journal Information] [Subscribe] [Scholar Register] [Indexed: 12/16/2022]
|
9
|
Abstract
In conventional classification, soft robots feature mechanical compliance as the main distinguishing factor from traditional robots made of rigid materials. Recent advances in functional soft materials have facilitated the emergence of a new class of soft robots capable of tether-free actuation in response to external stimuli such as heat, light, solvent, or electric or magnetic field. Among the various types of stimuli-responsive materials, magnetic soft materials have shown remarkable progress in their design and fabrication, leading to the development of magnetic soft robots with unique advantages and potential for many important applications. However, the field of magnetic soft robots is still in its infancy and requires further advancements in terms of design principles, fabrication methods, control mechanisms, and sensing modalities. Successful future development of magnetic soft robots would require a comprehensive understanding of the fundamental principle of magnetic actuation, as well as the physical properties and behavior of magnetic soft materials. In this review, we discuss recent progress in the design and fabrication, modeling and simulation, and actuation and control of magnetic soft materials and robots. We then give a set of design guidelines for optimal actuation performance of magnetic soft materials. Lastly, we summarize potential biomedical applications of magnetic soft robots and provide our perspectives on next-generation magnetic soft robots.
Collapse
Affiliation(s)
- Yoonho Kim
- Department of Mechanical Engineering, Massachusetts Institute of Technology, Cambridge, MA 02139, USA
| | - Xuanhe Zhao
- Department of Mechanical Engineering, Massachusetts Institute of Technology, Cambridge, MA 02139, USA
- Department of Civil and Environmental Engineering, Massachusetts Institute of Technology, Cambridge, MA 02139, USA
| |
Collapse
|
10
|
Tactile Sensing Using Magnetic Foam. Polymers (Basel) 2022; 14:polym14040834. [PMID: 35215750 PMCID: PMC8963008 DOI: 10.3390/polym14040834] [Citation(s) in RCA: 2] [Impact Index Per Article: 1.0] [Reference Citation Analysis] [Abstract] [Key Words] [Track Full Text] [Download PDF] [Figures] [Journal Information] [Subscribe] [Scholar Register] [Received: 01/11/2022] [Revised: 02/16/2022] [Accepted: 02/18/2022] [Indexed: 11/24/2022] Open
Abstract
For biomedical applications, smart materials that are used as sensors or actuators have to match some criteria, especially bio-compatibility and softness. Smart polymers are candidates that fulfill these two criteria. A sensitivity to compression is created by adding magnetic particles to a compressible foam polymer. A foam-based composite is fabricated for its small Poisson’s ratio, which enables significant compression, up to 50%. This large compression induces a change in its magnetic properties, which can be detected using coils. By setting the sensing coils as a compact array of 3 × 3, the sensor successfully detected and localized an applied deformation.
Collapse
|
11
|
Dual Properties of Polyvinyl Alcohol-Based Magnetorheological Plastomer with Different Ratio of DMSO/Water. SENSORS 2021; 21:s21227758. [PMID: 34833835 PMCID: PMC8623238 DOI: 10.3390/s21227758] [Citation(s) in RCA: 0] [Impact Index Per Article: 0] [Reference Citation Analysis] [Abstract] [Key Words] [Track Full Text] [Download PDF] [Figures] [Subscribe] [Scholar Register] [Received: 09/22/2021] [Revised: 11/12/2021] [Accepted: 11/18/2021] [Indexed: 11/17/2022]
Abstract
Polyvinyl alcohol (PVA)-based magnetorheological plastomer (MRP) possesses excellent magnetically dependent mechanical properties such as the magnetorheological effect (MR effect) when exposed to an external magnetic field. PVA-based MRP also shows a shear stiffening (ST) effect, which is very beneficial in fabricating pressure sensor. Thus, it can automatically respond to external stimuli such as shear force without the magnetic field. The dual properties of PVA-based MRP mainly on the ST and MR effect are rarely reported. Therefore, this work empirically investigates the dual properties of this smart material under the influence of different solvent compositions (20:80, 40:60, 60:40, and 80:20) by varying the ratios of binary solvent mixture (dimethyl sulfoxide (DMSO) to water). Upon applying a shear stress with excitation frequencies from 0.01 to 10 Hz, the storage modulus (G′) for PVA-based MRP with DMSO to water ratio of 20:40 increases from 6.62 × 10−5 to 0.035 MPa. This result demonstrates an excellent ST effect with the relative shear stiffening effect (RSTE) up to 52,827%. In addition, both the ST and MR effect show a downward trend with increasing DMSO content to water. Notably, the physical state of hydrogel MRP could be changed with different solvent ratios either in the liquid-like or solid-like state. On the other hand, a transient stepwise experiment showed that the solvent’s composition had a positive effect on the arrangement of CIPs within the matrix as a function of the external magnetic field. Therefore, the solvent ratio (DMSO/water) can influence both ST and MR effects of hydrogel MRP, which need to be emphasized in the fabrication of hydrogel MRP for appropriate applications primarily with soft sensors and actuators for dynamic motion control.
Collapse
|
12
|
Trends of Human-Robot Collaboration in Industry Contexts: Handover, Learning, and Metrics. SENSORS 2021; 21:s21124113. [PMID: 34203766 PMCID: PMC8232712 DOI: 10.3390/s21124113] [Citation(s) in RCA: 10] [Impact Index Per Article: 3.3] [Reference Citation Analysis] [Abstract] [Key Words] [Track Full Text] [Download PDF] [Figures] [Subscribe] [Scholar Register] [Received: 05/12/2021] [Revised: 06/03/2021] [Accepted: 06/08/2021] [Indexed: 12/03/2022]
Abstract
Repetitive industrial tasks can be easily performed by traditional robotic systems. However, many other works require cognitive knowledge that only humans can provide. Human-Robot Collaboration (HRC) emerges as an ideal concept of co-working between a human operator and a robot, representing one of the most significant subjects for human-life improvement.The ultimate goal is to achieve physical interaction, where handing over an object plays a crucial role for an effective task accomplishment. Considerable research work had been developed in this particular field in recent years, where several solutions were already proposed. Nonetheless, some particular issues regarding Human-Robot Collaboration still hold an open path to truly important research improvements. This paper provides a literature overview, defining the HRC concept, enumerating the distinct human-robot communication channels, and discussing the physical interaction that this collaboration entails. Moreover, future challenges for a natural and intuitive collaboration are exposed: the machine must behave like a human especially in the pre-grasping/grasping phases and the handover procedure should be fluent and bidirectional, for an articulated function development. These are the focus of the near future investigation aiming to shed light on the complex combination of predictive and reactive control mechanisms promoting coordination and understanding. Following recent progress in artificial intelligence, learning exploration stand as the key element to allow the generation of coordinated actions and their shaping by experience.
Collapse
|
13
|
A Magnetic Food Texture Sensor and Comparison of the Measurement Data of Chicken Nuggets. SENSORS 2021; 21:s21103310. [PMID: 34064597 PMCID: PMC8151728 DOI: 10.3390/s21103310] [Citation(s) in RCA: 1] [Impact Index Per Article: 0.3] [Reference Citation Analysis] [Abstract] [Key Words] [Download PDF] [Figures] [Subscribe] [Scholar Register] [Received: 03/29/2021] [Revised: 05/06/2021] [Accepted: 05/08/2021] [Indexed: 11/23/2022]
Abstract
Food texture is one of the important quality indicators in foodstuffs, along with appearance and flavor, contributing to taste and odor. This study proposes a novel magnetic food texture sensor that corresponds to the tactile sensory capacity of the human tooth. The sensor primarily consists of a probe, linear slider, spring, and circuit board. The probe has a cylindrical shape and includes a permanent magnet. Both sides of the spring are fixed to the probe and circuit board. The linear slider enables the smooth, single-axis motion of the probe during food compression. Two magnetoresistive elements and one inductor on the circuit board measured the probe’s motion. A measurement system then translates the measurement data collected by the magnetoresistive elements into compression force by means of a calibration equation. Fundamental experiments were performed to evaluate the range, resolution, repetitive durability of force, and differences in the frequency responses. Furthermore, the sensor was used to measure seven types of chicken nuggets with different coatings. The difference between the force and vibration measurement data is revealed on the basis of the discrimination rate of the nuggets.
Collapse
|
14
|
Ogenyi UE, Liu J, Yang C, Ju Z, Liu H. Physical Human-Robot Collaboration: Robotic Systems, Learning Methods, Collaborative Strategies, Sensors, and Actuators. IEEE TRANSACTIONS ON CYBERNETICS 2021; 51:1888-1901. [PMID: 31751257 DOI: 10.1109/tcyb.2019.2947532] [Citation(s) in RCA: 9] [Impact Index Per Article: 3.0] [Reference Citation Analysis] [Abstract] [MESH Headings] [Track Full Text] [Subscribe] [Scholar Register] [Indexed: 06/10/2023]
Abstract
This article presents a state-of-the-art survey on the robotic systems, sensors, actuators, and collaborative strategies for physical human-robot collaboration (pHRC). This article starts with an overview of some robotic systems with cutting-edge technologies (sensors and actuators) suitable for pHRC operations and the intelligent assist devices employed in pHRC. Sensors being among the essential components to establish communication between a human and a robotic system are surveyed. The sensor supplies the signal needed to drive the robotic actuators. The survey reveals that the design of new generation collaborative robots and other intelligent robotic systems has paved the way for sophisticated learning techniques and control algorithms to be deployed in pHRC. Furthermore, it revealed the relevant components needed to be considered for effective pHRC to be accomplished. Finally, a discussion of the major advances is made, some research directions, and future challenges are presented.
Collapse
|
15
|
Lu Q, Choi K, Nam JD, Choi HJ. Magnetic Polymer Composite Particles: Design and Magnetorheology. Polymers (Basel) 2021; 13:512. [PMID: 33567794 PMCID: PMC7915058 DOI: 10.3390/polym13040512] [Citation(s) in RCA: 17] [Impact Index Per Article: 5.7] [Reference Citation Analysis] [Abstract] [Key Words] [Grants] [Track Full Text] [Download PDF] [Figures] [Journal Information] [Subscribe] [Scholar Register] [Received: 01/11/2021] [Revised: 01/31/2021] [Accepted: 02/01/2021] [Indexed: 02/06/2023] Open
Abstract
As a family of smart functional hybrid materials, magnetic polymer composite particles have attracted considerable attention owing to their outstanding magnetism, dispersion stability, and fine biocompatibility. This review covers their magnetorheological properties, namely, flow curve, yield stress, and viscoelastic behavior, along with their synthesis. Preparation methods and characteristics of different types of magnetic composite particles are presented. Apart from the research progress in magnetic polymer composite synthesis, we also discuss prospects of this promising research field.
Collapse
Affiliation(s)
- Qi Lu
- Department of Polymer Science and Engineering, Inha University, Incheon 22212, Korea;
- Program of Environmental and Polymer Engineering, Inha University, Incheon 22212, Korea
| | - Kisuk Choi
- Department of Polymer Science and Engineering, Sungkyunkwan University, Suwon 16419, Korea; (K.C.); (J.-D.N.)
| | - Jae-Do Nam
- Department of Polymer Science and Engineering, Sungkyunkwan University, Suwon 16419, Korea; (K.C.); (J.-D.N.)
| | - Hyoung Jin Choi
- Department of Polymer Science and Engineering, Inha University, Incheon 22212, Korea;
- Program of Environmental and Polymer Engineering, Inha University, Incheon 22212, Korea
| |
Collapse
|
16
|
Wu S, Hu W, Ze Q, Sitti M, Zhao R. Multifunctional magnetic soft composites: a review. MULTIFUNCTIONAL MATERIALS 2020; 3:042003. [PMID: 33834121 PMCID: PMC7610551 DOI: 10.1088/2399-7532/abcb0c] [Citation(s) in RCA: 65] [Impact Index Per Article: 16.3] [Reference Citation Analysis] [Abstract] [Key Words] [Grants] [Track Full Text] [Download PDF] [Figures] [Subscribe] [Scholar Register] [Indexed: 12/22/2022]
Abstract
Magnetically responsive soft materials are soft composites where magnetic fillers are embedded into soft polymeric matrices. These active materials have attracted extensive research and industrial interest due to their ability to realize fast and programmable shape changes through remote and untethered control under the application of magnetic fields. They would have many high-impact potential applications in soft robotics/devices, metamaterials, and biomedical devices. With a broad range of functional magnetic fillers, polymeric matrices, and advanced fabrication techniques, the material properties can be programmed for integrated functions, including programmable shape morphing, dynamic shape deformation-based locomotion, object manipulation and assembly, remote heat generation, as well as reconfigurable electronics. In this review, an overview of state-of-the-art developments and future perspectives in the multifunctional magnetically responsive soft materials is presented.
Collapse
Affiliation(s)
- Shuai Wu
- Department of Mechanical and Aerospace Engineering, The Ohio State University, Columbus, OH 43210, United States of America
| | - Wenqi Hu
- Physical Intelligence Department, Max Planck Institute for Intelligent Systems, 70569 Stuttgart, Germany
| | - Qiji Ze
- Department of Mechanical and Aerospace Engineering, The Ohio State University, Columbus, OH 43210, United States of America
| | - Metin Sitti
- Physical Intelligence Department, Max Planck Institute for Intelligent Systems, 70569 Stuttgart, Germany
| | - Ruike Zhao
- Department of Mechanical and Aerospace Engineering, The Ohio State University, Columbus, OH 43210, United States of America
| |
Collapse
|
17
|
Shen Z, Chen F, Zhu X, Yong KT, Gu G. Stimuli-responsive functional materials for soft robotics. J Mater Chem B 2020; 8:8972-8991. [PMID: 32901646 DOI: 10.1039/d0tb01585g] [Citation(s) in RCA: 68] [Impact Index Per Article: 17.0] [Reference Citation Analysis] [Abstract] [Track Full Text] [Journal Information] [Subscribe] [Scholar Register] [Indexed: 02/24/2024]
Abstract
Functional materials have spurred the advancement of soft robotics with the potential to perform safe interactions and adaptative functions in unstructured environments. The responses of functional materials under external stimuli lend themselves to programmable actuation and sensing, opening up new possibilities of robot design with built-in mechanical intelligence and unlocking new applications. Here, we review the development of stimuli-responsive functional materials particularly used for soft robotic systems. This review covers five representative types of soft stimuli-responsive functional materials, namely (i) dielectric elastomers, (ii) hydrogels, (iii) shape memory polymers, (iv) liquid crystal elastomers, and (v) magnetic materials, with focuses on their inherent material properties, working mechanisms, and design strategies for actuation and sensing. We also highlight the state-of-the-art applications of soft stimuli-responsive functional materials in locomotion robots, grippers and sensors. Finally, we summarize the current challenges and map out future trends for engineering next-generation functional materials for soft robotics.
Collapse
Affiliation(s)
- Zequn Shen
- Robotics Institute, School of Mechanical Engineering, Shanghai Jiao Tong University, Shanghai 200240, China. and State Key Laboratory of Mechanical System and Vibration, Shanghai Jiao Tong University, Shanghai 200240, China
| | - Feifei Chen
- Robotics Institute, School of Mechanical Engineering, Shanghai Jiao Tong University, Shanghai 200240, China. and State Key Laboratory of Mechanical System and Vibration, Shanghai Jiao Tong University, Shanghai 200240, China
| | - Xiangyang Zhu
- Robotics Institute, School of Mechanical Engineering, Shanghai Jiao Tong University, Shanghai 200240, China. and State Key Laboratory of Mechanical System and Vibration, Shanghai Jiao Tong University, Shanghai 200240, China
| | - Ken-Tye Yong
- School of Electrical and Electronic Engineering, Nanyang Technological University, Singapore 639798, Singapore.
| | - Guoying Gu
- Robotics Institute, School of Mechanical Engineering, Shanghai Jiao Tong University, Shanghai 200240, China. and State Key Laboratory of Mechanical System and Vibration, Shanghai Jiao Tong University, Shanghai 200240, China
| |
Collapse
|
18
|
De Chiara F, Wang S, Liu H. Creating a Soft Tactile Skin Employing Fluorescence Based Optical Sensing. IEEE Robot Autom Lett 2020. [DOI: 10.1109/lra.2020.2976303] [Citation(s) in RCA: 2] [Impact Index Per Article: 0.5] [Reference Citation Analysis] [Track Full Text] [Journal Information] [Subscribe] [Scholar Register] [Indexed: 11/10/2022]
|
19
|
Rosle MH, Wang Z, Hirai S. Geometry Optimisation of a Hall-Effect-Based Soft Fingertip for Estimating Orientation of Thin Rectangular Objects. SENSORS 2019; 19:s19184056. [PMID: 31546978 PMCID: PMC6767353 DOI: 10.3390/s19184056] [Citation(s) in RCA: 7] [Impact Index Per Article: 1.4] [Reference Citation Analysis] [Abstract] [Key Words] [Track Full Text] [Download PDF] [Figures] [Subscribe] [Scholar Register] [Received: 08/13/2019] [Revised: 09/11/2019] [Accepted: 09/18/2019] [Indexed: 11/21/2022]
Abstract
Soft tactile sensors have been applied to robotic grippers for assembly. It is a challenging task to obtain contact information and object orientation using tactile sensors during grasping. Currently, the design of Hall-effect-based tactile sensors to perform such tasks is based on trial and error. We present a method of investigating the optimal geometrical design of a cylindrical soft sensor to increase its sensitivity. The finite element model of a soft fingertip was constructed in Abaqus with two design variables, i.e., hollow radius and magnet position. Then, the model was imported into Isight, with the maximisation of magnet displacement as the objective function. We found that the optimal design was at the boundary of the parameter design space. Four fingertips were fabricated with one intuitive, one optimal, and two optional sets of parameters. Experiments were performed, and object orientation was estimated by utilising linear approximation and a machine learning approach. Good agreements were achieved between optimisation and experiments. The results revealed that the estimated average error in object orientation was decreased by the optimised fingertip design. Furthermore, the 3-axis forces could successfully be estimated based on sensor outputs.
Collapse
Affiliation(s)
- Muhammad Hisyam Rosle
- Department of Robotics, Graduate School of Science and Engineering, Ritsumeikan University, Shiga 525-8577, Japan.
| | - Zhongkui Wang
- Research Organization of Science and Technology, Ritsumeikan University, Shiga 525-8577, Japan.
| | - Shinichi Hirai
- Department of Robotics, Graduate School of Science and Engineering, Ritsumeikan University, Shiga 525-8577, Japan.
| |
Collapse
|
20
|
Nagahama S, Migita K, Sugano S. Soft Magnetic Powdery Sensor for Tactile Sensing. SENSORS 2019; 19:s19122677. [PMID: 31200578 PMCID: PMC6631932 DOI: 10.3390/s19122677] [Citation(s) in RCA: 9] [Impact Index Per Article: 1.8] [Reference Citation Analysis] [Abstract] [Key Words] [Track Full Text] [Download PDF] [Figures] [Subscribe] [Scholar Register] [Received: 03/28/2019] [Revised: 05/27/2019] [Accepted: 06/04/2019] [Indexed: 12/04/2022]
Abstract
Soft resistive tactile sensors are versatile devices with applications in next-generation flexible electronics. We developed a novel type of soft resistive tactile sensor called a soft magnetic powdery sensor (soft-MPS) and evaluated its response characteristics. The soft-MPS comprises ferromagnetic powder that is immobilized in a liquid resin such as polydimethylsiloxane (PDMS) after orienting in a magnetic field. On applying an external force to the sensor, the relative distance between particles changes, thereby affecting its resistance. Since the ferromagnetic powders are in contact from the initial state, they have the ability to detect small contact forces compared to conventional resistive sensors in which the conductive powder is dispersed in a flexible material. The sensor unit can be made in any shape by controlling the layout of the magnetic field. Soft-MPSs with different hardnesses that could detect small forces were fabricated. The soft-MPS could be applied to detect collisions in robot hands/arms or in ultra-sensitive touchscreen devices.
Collapse
Affiliation(s)
- Shunsuke Nagahama
- Waseda Research Institute for Science and Engineering, Waseda University, 3-4-1 Okubo, Shinjuku-ku, Tokyo 169-8555, Japan.
| | - Kayo Migita
- School of Creative Science and Engineering, Waseda University, 3-4-1 Okubo, Shinjuku-ku, Tokyo 169-8555, Japan.
| | - Shigeki Sugano
- School of Creative Science and Engineering, Waseda University, 3-4-1 Okubo, Shinjuku-ku, Tokyo 169-8555, Japan.
| |
Collapse
|