Design and fabrication of twisted monolithic dielectric elastomer actuator

Jung, Ho Sang; Yang, Sang Yul; Cho, Kyeong Ho; Song, Mi Sook; Nguyen, Canh Toan; Phung, Hoa; Kim, Uikyum; Moon, Hyungpil; Koo, Ja Choon; Nam, Jae‐Do; Choi, Hyouk Ryeol

doi:10.1007/s12555-016-0466-z

Cited by 33 publications

(24 citation statements)

References 18 publications

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“…The twisted actuator is more stable to external force. An actuator with a maximum of 13.7 Wkg −1 of specific power with a 300 g load and −5.2% contraction strain without load has been reported [70].…”

Section: Linear Contraction Deamentioning

confidence: 99%

Dielectric Elastomer Actuator for Soft Robotics Applications and Challenges

et al. 2020

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This paper reviews state-of-the-art dielectric elastomer actuators (DEAs) and their future perspectives as soft actuators which have recently been considered as a key power generation component for soft robots. This paper begins with the introduction of the working principle of the dielectric elastomer actuators. Because the operation of DEA includes the physics of both mechanical viscoelastic properties and dielectric characteristics, we describe theoretical modeling methods for the DEA before introducing applications. In addition, the design of artificial muscles based on DEA is also introduced. This paper reviews four popular subjects for the application of DEA: soft robot hand, locomotion robots, wearable devices, and tunable optical components. Other potential applications and challenging issues are described in the conclusion.

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Section: Linear Contraction Deamentioning

confidence: 99%

Dielectric Elastomer Actuator for Soft Robotics Applications and Challenges

et al. 2020

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“…Due to the asymmetry of the boundaries, the stress distribution is skewed towards the edge on the side of the obtuse angle. Therefore, assuming that the angle between the new axis of the deflection profile and the vertical is the same as the angle at which the plate is inclined, the maximum deflection can be approximated for any inclination angle αincl as in (5), and the angular displacement computed using the mean value theorem similarly to the 2D-bending case.…”

Section: B Helical Motionmentioning

confidence: 99%

“…Dielectric elastomer actuators (DEA) are a different class of actuators based on electroactive polymers, which are typically sandwiched between two electrodes and deform mechanically upon variations of the electric field [3]. While they are mostly restricted to 2D-bending [4], the improved single-body dielectric elastomer actuators (SDEA) can also perform more complex movements such as helical motion [5]. However, manual fabrication prevents miniaturization of the devices and is time-consuming with limited reproducibility [6].…”

Section: Introductionmentioning

confidence: 99%

Geometry-Based Customization of Bending Modalities for 3D-Printed Soft Pneumatic Actuators

Rosalia

Ang

Yeow

2018

IEEE Robot. Autom. Lett.

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In this work, we propose a novel type of 3D-printed soft pneumatic actuator that allows geometry-based customization of bending modalities. While motion in the 3Dspace has been achieved for several types of soft actuators, only 2D-bending has been previously modelled and characterized within the scope of 3D-printed soft pneumatic actuators. We developed the first type of 3D-printed soft pneumatic actuator which, by means of the unique feature of customizable cubes at an angle with the longitudinal axis of the structure, is capable of helical motion. Thus, we characterize its mechanical behavior and formulate mathematical and FEA models to validate the experimental results. Variation to the pattern of the inclination angle along the actuator is then demonstrated to allow for complex 3D-bending modalities and the main applications in the fields of object manipulation and wearable robotics are finally discussed.

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“…Embedded soft sensors are an essential component for soft robots to sense and respond to their surroundings, as well as provide status feedback to the controller, so that they can perform delicate and sensitive tasks. Stretchable electronic sensors, including the use of liquid metal, printable conductors, piezoresistive rubber and braided conductive wires [6,[15][16][17], have been developed to overcome the stretchability and deformability challenges for sensing in soft robotics. Although existing stretchable electronic sensors have great success in robotic sensing, these approaches are based on variation in resistance, conductance and capacitance induced by the change in physical phenomenon; therefore, these stretchable electronic sensors cannot survive harsh environments that could be corrosive, explosive or under the effect of a strong electromagnetic field.…”

Section: Introductionmentioning

confidence: 99%

Movement Detection in Soft Robotic Gripper Using Sinusoidally Embedded Fiber Optic Sensor

Yang

Liu

Naqawe

et al. 2020

Sensors

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Soft robotics is an emerging field, since it offers distinct opportunities in areas where conventional rigid robots are not a feasible solution. However, due to the complex motions of soft robots and the stretchable nature of soft building materials, conventional electronic and fiber optic sensors cannot be used in soft robots, thus, hindering the soft robots’ ability to sense and respond to their surroundings. Fiber Bragg grating (FBG)-based sensors are very popular among various fiber optic sensors, but their stiff nature makes it challenging to be used in soft robotics. In this study, a soft robotic gripper with a sinusoidally embedded stretchable FBG-based fiber optic sensor is demonstrated. Unlike a straight FBG embedding configuration, this unique sinusoidal configuration prevents sensor dislocation, supports stretchability and improves sensitivity by seven times when compared to a straight configuration. Furthermore, the sinusoidally embedded FBG facilitates the detection of various movements and events occurring at the soft robotic gripper, such as (de)actuation, object holding and external perturbation. The combination of a soft robot and stretchable fiber optic sensor is a novel approach to enable a soft robot to sense and response to its surroundings, as well as to provide its operation status to the controller.

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Design and fabrication of twisted monolithic dielectric elastomer actuator

Cited by 33 publications

References 18 publications

Dielectric Elastomer Actuator for Soft Robotics Applications and Challenges

Dielectric Elastomer Actuator for Soft Robotics Applications and Challenges

Geometry-Based Customization of Bending Modalities for 3D-Printed Soft Pneumatic Actuators

Movement Detection in Soft Robotic Gripper Using Sinusoidally Embedded Fiber Optic Sensor

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