Concept and Prototype of Soft Actuator for Liquid Nitrogen Temperature Environments

Yamaguchi, Daisuke; Hanaki, Tatsuya; Ishino, Yuji; Hara, Masayuki; Takasaki, Masaya; Mizuno, Takeshi

doi:10.20965/jrm.2020.p1019

Cited by 3 publications

(2 citation statements)

References 18 publications

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“…This type is advantageous because it is simple to fabricate and can achieve bending and twisting motions without requiring any other mechanism. In our research, a bellows actuator has been realized by using polyimide films, which has high extreme environmental resistance [32]. This actuator has a minimum drive temperature that is much lower than previous soft actuators and can be driven at 78 K. However, as will be discussed in the next section, repeated durability remains an issue due to the unfolding behavior of the folded part and buckling deformation caused by geometric failure.…”

Section: Introductionmentioning

confidence: 99%

Fabrication of a Polyimide Film Pneumatic Actuator by Molding and Welding Processes

et al. 2021

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The bellows pneumatic actuator, which is made by folding a non-stretch film, has been proposed for various applications because it is easy to fabricate and is extremely thin and light. However, it has subpar durability performance, especially in the folded part of the film. In this study, we propose an actuator with a pod structure that possesses high design flexibility and is free from folding. A method of molding a pod structure on a polyimide film was established and a pneumatic actuator was successfully fabricated by using PI films. Two types of PI film pneumatic actuators with the same curvature, bellows type, and pod type were fabricated. Both were confirmed to have equivalent output characteristics. The bending angle and generated torque of the pod-structure actuator were 34° and 3.3 mNm, respectively. In addition, the pod structure has approximately twice the durability of the bellows structure. By using the fabrication method proposed in this paper, it is possible to realize an air chamber (i.e., an actuator) that has both high durability and bending motion.

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Section: Introductionmentioning

confidence: 99%

Fabrication of a Polyimide Film Pneumatic Actuator by Molding and Welding Processes

et al. 2021

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“…Potential thermoactive actuator technologies may use principles such as photothermal [60], thermoelectric cooler [61], and phase-change heatsinks to effectively transition between actuation and deactuation states. Additionally, material types such as gel [62,63], polyimide films [64], and reduced graphene oxide [65][66][67] have shown capabilities for extreme temperature tolerance performances.…”

Section: Applications Of Thermo-active Actuatorsmentioning

confidence: 99%

Thermo-Reversible Phase-Change Actuators for Physical Human-Robot Interactions

Exley

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Exploring the advancement of soft and variable impedance actuators (VIAs), the research focuses on their potential for enhancing safety and adaptability in physical human-robot interactions (pHRI). Despite the promising attributes of these technologies, their adoption in portable applications is still emerging. Addressing the challenges hindering the widespread implementation of soft actuators and VIAs, a multidisciplinary approach is employed, spanning materials science, chemistry, thermodynamics, and more. Novel compliant actuators utilizing phase-change materials and flexible thermoelectric devices are introduced, offering improved safety, adaptability, and efficiency. Thermo-active phase change soft actuators, integrating Peltier junctions, achieve precise thermal control and reversible actuation, overcoming traditional Joule heating limitations for more efficient and controlled thermal responses. The research also delves into thermal variable impedance actuators, using viscoelastic polymers like polycaprolactone (PCL) for variable stiffness and damping. This innovation enables rapid adaptation to changing load conditions, enhancing the dynamic performance of VIAs. Key contributions encompass the design of an agonist-antagonist system using thermo-active phase change materials, applications in soft robotic devices such as grippers and locomotion mechanisms, and the implementation of bidirectional heating elements within these actuators. The work also outlines the challenges encountered, such as gravity's influence on actuation and the frequency-dependent properties of PCL, setting the stage for future research directions to advance the field of soft robotics. Through these contributions, the research demonstrates practical applications of soft and variable impedance actuators in pHRI, paving the way for future innovations in soft robotics.

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Toward a Unified Naming Scheme for Thermo-Active Soft Actuators: A Review of Materials, Working Principles, and Applications

Exley,

Hays,

Johnson

et al. 2024

Robotics Reports

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Concept and Prototype of Soft Actuator for Liquid Nitrogen Temperature Environments

Cited by 3 publications

References 18 publications

Fabrication of a Polyimide Film Pneumatic Actuator by Molding and Welding Processes

Fabrication of a Polyimide Film Pneumatic Actuator by Molding and Welding Processes

Thermo-Reversible Phase-Change Actuators for Physical Human-Robot Interactions

Toward a Unified Naming Scheme for Thermo-Active Soft Actuators: A Review of Materials, Working Principles, and Applications

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