Efficiency of Origami-Based Vacuum Pneumatic Artificial Muscle for Off-Grid Operation

Lee, Jin-Gyu; Rodrigue, Hugo

doi:10.1007/s40684-019-00142-0

Cited by 16 publications

(15 citation statements)

References 37 publications

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“…The previously mentioned actuation strain-stress ratio limitation of FOAMs is solved with OV-PAMS because they can keep an actuation strain close to 100% while generating their maximum actuation force. However, OV-PAMs are voluminous, which could limit their implementation in small robotic applications (12,13).…”

Section: Introductionmentioning

confidence: 99%

Cavatappi artificial muscles from drawing, twisting, and coiling polymer tubes

2021

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Compliant, biomimetic actuation technologies that are both efficient and powerful are necessary for robotic systems that may one day interact, augment, and potentially integrate with humans. To this end, we introduce a fluid-driven muscle-like actuator fabricated from inexpensive polymer tubes. The actuation results from a specific processing of the tubes. First, the tubes are drawn, which enhances the anisotropy in their microstructure. Then, the tubes are twisted, and these twisted tubes can be used as a torsional actuator. Last, the twisted tubes are helically coiled into linear actuators. We call these linear actuators cavatappi artificial muscles based on their resemblance to the Italian pasta. After drawing and twisting, hydraulic or pneumatic pressure applied inside the tube results in localized untwisting of the helical microstructure. This untwisting manifests as a contraction of the helical pitch for the coiled configuration. Given the hydraulic or pneumatic activation source, these devices have the potential to substantially outperform similar thermally activated actuation technologies regarding actuation bandwidth, efficiency, modeling and controllability, and practical implementation. In this work, we show that cavatappi contracts more than 50% of its initial length and exhibits mechanical contractile efficiencies near 45%. We also demonstrate that cavatappi artificial muscles can exhibit a maximum specific work and power of 0.38 kilojoules per kilogram and 1.42 kilowatts per kilogram, respectively. Continued development of this technology will likely lead to even higher performance in the future.

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Section: Introductionmentioning

confidence: 99%

Cavatappi artificial muscles from drawing, twisting, and coiling polymer tubes

2021

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“…A soft active origami robot with a self-actuation design without the assistance of any external actuators is reported in [157]. In [153] Lee et al suggested a mathematical model for predicting the energy efficiency of a soft origami actuator and connected pump together. This model can be applied for the automation of low-cost off-grid operations and human-robot collaboration (figure 6(c)).…”

Section: Soft Vacuumed Fluid Actuators (Svfas)mentioning

confidence: 99%

Review of soft fluidic actuators: classification and materials modeling analysis

Pagoli

Chapelle

Ramón

et al. 2021

Smart Mater. Struct.

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Soft actuators can be classified into five categories: tendon-driven actuators, electroactive polymers (EAPs), shape-memory materials, soft fluidic actuators (SFAs), and hybrid actuators. The characteristics and potential challenges of each class are explained at the beginning of this review. Furthermore, recent advances especially focusing on soft fluidic actuators (SFAs) are illustrated. There are already some impressive SFA designs to be found in the literature, constituting a fundamental basis for design and inspiration. The goal of this review is to address the latest innovative designs for SFAs and their challenges and improvements with respect to previous generations, and help researchers to select appropriate materials for their application. We suggest six influential designs: pneumatic artificial muscles (PAM), PneuNet, continuum arm, universal granular gripper, origami soft structure, and vacuum-actuated muscle-inspired pneumatic (VAMPs). The hybrid design of SFAs for improved functionality and shape controllability is also considered. Modeling SFAs, based on previous research, can be classified into three main groups: analytical methods, numerical methods, and model-free methods. We demonstrate the latest advances and potential challenges in each category. Regarding the fact that the performance of soft actuators is dependent on material selection, we then focus on the behaviors and mechanical properties of the various types of silicone which can be found in the SFA literature. For a better comparison of the different constitutive models of silicone materials which have been proposed and tested in the literature, ABAQUS software is here employed to generate the engineering and true strain-stress data from the constitutive models, and compare them with standard uniaxial tensile test data based on ASTM412. Although the figures presented show that in a small range of stress-strain data, most of these models can predict the material model acceptably, few of them predict it accurately for large strain-stress values.

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“…For thermal-responsive shape memory materials, the work densities are attractive; however, the issues of limited speed and low efficiency need to be explored and improved. Pneumatic soft actuators provide medium strain and speed similar to skeletal muscle, while the efficiency varies 23 , 160 , 166 . Electrical actuators such as DE and piezoelectric artificial muscles have high efficiency, which is significant for an autonomous system with a limited power supply.…”

Section: Comparison Of Electrical and Mechanical Propertiesmentioning

confidence: 99%

A comparative review of artificial muscles for microsystem applications

Shi

Yeatman

2021

Microsyst Nanoeng

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Artificial muscles are capable of generating actuation in microsystems with outstanding compliance. Recent years have witnessed a growing academic interest in artificial muscles and their application in many areas, such as soft robotics and biomedical devices. This paper aims to provide a comparative review of recent advances in artificial muscle based on various operating mechanisms. The advantages and limitations of each operating mechanism are analyzed and compared. According to the unique application requirements and electrical and mechanical properties of the muscle types, we suggest suitable artificial muscle mechanisms for specific microsystem applications. Finally, we discuss potential strategies for energy delivery, conversion, and storage to promote the energy autonomy of microrobotic systems at a system level.

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Efficiency of Origami-Based Vacuum Pneumatic Artificial Muscle for Off-Grid Operation

Cited by 16 publications

References 37 publications

Cavatappi artificial muscles from drawing, twisting, and coiling polymer tubes

Cavatappi artificial muscles from drawing, twisting, and coiling polymer tubes

Review of soft fluidic actuators: classification and materials modeling analysis

A comparative review of artificial muscles for microsystem applications

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