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López-Díaz A, De La Morena J, Braic A, Serna C, Ramos F, Vázquez E, Vázquez AS. Proprioception and Control of a Soft Pneumatic Actuator Made of a Self-Healable Hydrogel. Soft Robot 2024. [PMID: 38569180 DOI: 10.1089/soro.2023.0180] [Citation(s) in RCA: 0] [Impact Index Per Article: 0] [Reference Citation Analysis] [What about the content of this article? (0)] [Affiliation(s)] [Abstract] [Key Words] [Track Full Text] [Journal Information] [Subscribe] [Scholar Register] [Indexed: 04/05/2024] Open
Abstract
The current evolutionary trends in soft robotics try to exploit the capacities of smart materials to achieve compact robotics designs with embodied intelligence. In this way, the number of elements that compose the soft robot can be reduced, as the smart material can cover different aspects (e.g., structure and sensorization) all in one. This work follows this tendency and presents a custom-designed hydrogel that exhibits two smart features, self-healing and ionic conductivity, used to build a pneumatic actuator. The self-healing capability provides the actuator's structure with the ability to self-repair from damages (e.g., punctures or cuts), an important quality to prolong the life cycle of the actuator. The ionic conductivity enables the actuator's proprioception: the structure itself serves as a curvature sensor. The behavior of this proprioceptive curvature sensor is analyzed in this work, studying its linearity, stability, and performance after a self-healing process. This sensor is also proposed as feedback in a closed-loop scheme to automatically control the actuator's curvature. A proportional-integral-derivative controller is designed based on an empirical model of the actuator's dynamics, and then validated in experimental tests, proving the proprioceptive sensor as proper feedback. These control tests are performed over undamaged and self-healed actuators, thus demonstrating all the capabilities of our soft material.
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Affiliation(s)
- Antonio López-Díaz
- Escuela Técnica Superior de Ingeniería Industrial, Universidad de Castilla-La Mancha, Ciudad Real, Spain
| | - Jesús De La Morena
- Escuela Técnica Superior de Ingeniería Industrial, Universidad de Castilla-La Mancha, Ciudad Real, Spain
| | - Andrei Braic
- Escuela Técnica Superior de Ingeniería Industrial, Universidad de Castilla-La Mancha, Ciudad Real, Spain
| | - Carlos Serna
- Escuela Técnica Superior de Ingeniería Industrial, Universidad de Castilla-La Mancha, Ciudad Real, Spain
| | - Francisco Ramos
- Escuela Técnica Superior de Ingeniería Industrial, Universidad de Castilla-La Mancha, Ciudad Real, Spain
| | - Ester Vázquez
- Instituto Regional de Investigación Científica Aplicada-Facultad de Ciencias y Tecnologías Químicas, Universidad de Castilla-La Mancha, Ciudad Real, Spain
| | - Andrés S Vázquez
- Escuela Técnica Superior de Ingeniería Industrial, Universidad de Castilla-La Mancha, Ciudad Real, Spain
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Duardo-Sánchez A, Munteanu CR, Riera-Fernández P, López-Díaz A, Pazos A, González-Díaz H. Modeling Complex Metabolic Reactions, Ecological Systems, and Financial and Legal Networks with MIANN Models Based on Markov-Wiener Node Descriptors. J Chem Inf Model 2013; 54:16-29. [DOI: 10.1021/ci400280n] [Citation(s) in RCA: 20] [Impact Index Per Article: 1.8] [Reference Citation Analysis] [What about the content of this article? (0)] [Affiliation(s)] [Track Full Text] [Journal Information] [Subscribe] [Scholar Register] [Indexed: 01/28/2023]
Affiliation(s)
- Aliuska Duardo-Sánchez
- Department
of Information and Communication Technologies, Computer Science Faculty, University of A Coruña, Campus de Elviña, 15071, A Coruña, A Coruña, Spain
- Department of Special Public Law, Financial
and Tributary Law Area, Faculty of Law, University of Santiago de Compostela (USC), 15782, Santiago de Compostela, A Coruña, Spain
| | - Cristian R. Munteanu
- Department
of Information and Communication Technologies, Computer Science Faculty, University of A Coruña, Campus de Elviña, 15071, A Coruña, A Coruña, Spain
| | - Pablo Riera-Fernández
- Department
of Information and Communication Technologies, Computer Science Faculty, University of A Coruña, Campus de Elviña, 15071, A Coruña, A Coruña, Spain
| | - Antonio López-Díaz
- Department of Special Public Law, Financial
and Tributary Law Area, Faculty of Law, University of Santiago de Compostela (USC), 15782, Santiago de Compostela, A Coruña, Spain
| | - Alejandro Pazos
- Department
of Information and Communication Technologies, Computer Science Faculty, University of A Coruña, Campus de Elviña, 15071, A Coruña, A Coruña, Spain
| | - Humberto González-Díaz
- Department of Organic Chemistry II, Faculty of Science and Technology, University of the Basque Country (UPV/EHU), 48940, Leioa, Bizkaia, Spain
- IKERBASQUE, Basque
Foundation for Science, 48011, Bilbao, Biscay, Spain
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