Electroactive polymers as soft robotic actuators: Electromechanical modeling and identification

Abstract

Biologically inspired robotic applications have recently received significant attention due to developments in novel materials and actuators with an operation principle similar to the natural muscles' . Electroactive polymer (EAP) actuators, also known as artificial muscles, possess extraordinary properties such as low efficiency consumption, compliance, bio-compatibility and ability to be miniaturized. Although several methodologies have been proposed for modeling and identification of their quasi-static bending behavior, a negligibly small attention has been given to their dynamic behavior. In this paper, we, therefore, report on their electromechanical modeling and parameter identification. We model the tri-layer EAP actuators as a soft robotic actuator consisting of a significant number of rigid links connected with compliant revolute joints. The experimental and numerical results presented suggest that the soft robotics approach is an effective way to model the EAP actuator and subsequently identify its dynamic parameters accurately. We have previously employed the same soft robotic approach to estimate the whole shape of the EAP actuator as a function of time. This conference paper is available at Research Online: http://ro.uow.edu.au/eispapers/1258  Abstract-Biologically inspired robotic applications have recently received significant attention due to developments in novel materials and actuators with an operation principle similar to their natural counterparts, i.e. muscles. Electroactive polymer (EAP) actuators, also known as artificial muscles, possess extraordinary properties such as low efficiency consumption, compliance, bio-compatibility and ability to be miniaturized. Although several methodologies have been proposed for modeling and identification of their quasi-static bending behavior, a negligibly small attention has been given to their dynamic behavior. In this paper, we, therefore, report on their electromechanical modeling and parameter identification. We model the tri-layer EAP actuators as a soft robotic actuator consisting of a significant number of rigid links connected with compliant revolute joints. The experimental and numerical results presented suggest that the soft robotics approach is an effective way to model the EAP actuator and subsequently identify its dynamic parameters accurately. We have previously employed the same soft robotic approach to estimate the whole shape of the EAP actuator as a function of time.

Optimal, Efficient Sequential Control of a Soft-Bodied, Peristaltic Sorting Table

“…Let denote the index of the state at time such that . By using place value notation, we can assign a natural number to every history of a fixed length according to (10) We can therefore enumerate all histories of a fixed length. By introducing a state for every number of a possible history, we can implement an automaton with history [which is characterized by the extended transition function as outlined in (9)] by an equivalent automaton without history (as outlined in Section IV).…”

“…At present, the simulation results cannot be realized in a prototype outside of a pressure chamber [9]. Trajectories of points on a backbone curve are often used to model the high deflection of elongated robotic limbs made of EAP strips or air muscles [10]- [12].…”

Position Control of a Soft Prosthetic Finger with Limited Feedback Information

“…The first challenge involves replacing the two key functions of such a structure, namely sensing and actuation, with their soft counterparts. In the past decade, a great deal of progress has been made in developing soft sensors and actuators from electroactive polymers (EAP) to artificial muscles (PAM) [1][2][3]. Change of certain electrical properties due to the change in device geometry in response to an applied mechanical stimulus constitutes the basis for soft sensors [4][5][6][7].…”

Using Voice Coils to Actuate Modular Soft Robots: Wormbot, an Example

“…The use of intrinsically soft materials for structural and actuating components in robots, however, has posed unique challenges. Previously reported soft actuators include electroactive polymers, 7 shape memory alloys, 8 and biosynthetic actuators. 9 Some challenges are that electroactive polymer actuators require a high-voltage source; shape memory alloy actuators are usually slow; and while biosynthetic actuators have progressed far in the last decade, they still require specialized biological processing techniques, such as tissue culture.…”