2017
DOI: 10.1002/advs.201600495
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Conduction Electrohydrodynamics with Mobile Electrodes: A Novel Actuation System for Untethered Robots

Abstract: Electrohydrodynamics (EHD) refers to the direct conversion of electrical energy into mechanical energy of a fluid. Through the use of mobile electrodes, this principle is exploited in a novel fashion for designing and testing a millimeter‐scale untethered robot, which is powered harvesting the energy from an external electric field. The robot is designed as an inverted sail‐boat, with the thrust generated on the sail submerged in the liquid. The diffusion constant of the robot is experimentally computed, provi… Show more

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Cited by 26 publications
(11 citation statements)
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References 23 publications
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“…Flexible materials are widely used in soft robotics, flexible sensors, and wearable devices due to their low weight, high flexibility, and large deformation. Particularly, in soft robotics, artificial muscles made by flexible materials can perform contraction, bending, twisting, helical motions, etc.…”
mentioning
confidence: 99%
“…Flexible materials are widely used in soft robotics, flexible sensors, and wearable devices due to their low weight, high flexibility, and large deformation. Particularly, in soft robotics, artificial muscles made by flexible materials can perform contraction, bending, twisting, helical motions, etc.…”
mentioning
confidence: 99%
“…The actuator's geometry, as seen in Figure 3K, suggests a large spread in the electrode-to-electrode distance: a few threads of silk separate the closest instances (∼0.05 mm), whereas the ions have to travel more than 0.5 mm from one surface to another. This is in contrast to alternative electrohydrodynamic pumps, actuators, or robot construction strategies (Cacucciolo et al, 2017). Nevertheless, extremely short ion-channels have been used to construct extremely-low-voltage (0.5 V) electrohydrodynamic pumps (Shin et al, 2011), yet with Faradaic, metallic electrodes, not wellmatched mechanically for actuators in bending configuration.…”
Section: Resultsmentioning
confidence: 99%
“…Using a similar configuration (resistive EHD, stratified liquids), the authors reported in a previous work the wireless propulsion of a robot. [ 8 ] In this article, we demonstrate for the first time that such propulsion exists not only when the robot is over the bottom electrode but also when the robot is distant from it. We also report that the robot always moves toward the addressed bottom electrode, until reaching it and stopping there in a stable position.…”
Section: Introductionmentioning
confidence: 92%
“…[4,7] In a previous work, the authors reported a configuration where one of the two electrodes in a pair is free to move, attached to a floating robot, whereas the other is fixed to the liquid container. [8] Wireless propulsion of the robot is enabled by using a layer of conductive liquid as electrical connection. Similarly, Chang et al reported electro-osmosis as a propulsion method for miniature diodes.…”
Section: Introductionmentioning
confidence: 99%