Integrated flexible microactuator systems

Suzumori, Koichi; Koga, Akihiro; Kondo, Fumika; Haneda, Riyoko

doi:10.1017/s0263574700019974

Cited by 18 publications

(6 citation statements)

References 8 publications

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“…Among these latter ones, several design principles have been investigated. The presence of multiple chambers that can be individually pressurized has allowed very devices with the potential to be small catheters and manipulators . In ref., the researchers used chambers that were designed to act antagonistically with respect to a central floating flexible spine, which created a neutral axis for the chambers bending moment.…”

Section: Surgical Toolsmentioning

confidence: 99%

Soft Robotics: Review of Fluid‐Driven Intrinsically Soft Devices; Manufacturing, Sensing, Control, and Applications in Human‐Robot Interaction

et al. 2017

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The emerging field of soft robotics makes use of many classes of materials including metals, low glass transition temperature (Tg) plastics, and high Tg elastomers. Dependent on the specific design, all of these materials may result in extrinsically soft robots. Organic elastomers, however, have elastic moduli ranging from tens of megapascals down to kilopascals; robots composed of such materials are intrinsically soft À they are always compliant independent of their shape. This class of soft machines has been used to reduce control complexity and manufacturing cost of robots, while enabling sophisticated and novel functionalities often in direct contact with humans. This review focuses on a particular type of intrinsically soft, elastomeric robot À those powered via fluidic pressurization.

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Section: Surgical Toolsmentioning

confidence: 99%

Soft Robotics: Review of Fluid‐Driven Intrinsically Soft Devices; Manufacturing, Sensing, Control, and Applications in Human‐Robot Interaction

et al. 2017

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“…267 In terms of the soft robotics used in medical field, to ensure the stable and normal operation of the whole system, the materials should be compatible with the human or animal body and tissues to a certain extent. Currently, the materials used in the medical field mainly include flexible fluidic actuators (FFAs), [268][269][270] SMMs, [271][272][273] electroactive polymers (EAPs), 274,275 hydrogels, 276,277 and conditional response materials. [278][279][280] Utilizing the deformation characteristics of these materials in a specific environment and transforming them make them have important application value in the biomedical field.…”

Section: Medicalmentioning

confidence: 99%

Recent advances in biomimetic soft robotics: fabrication approaches, driven strategies and applications

et al. 2022

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“…A large number of soft robots use fluidic elastomer actuators (FEAs) powered by pumps (e.g., refs. 1 – 17 ). These pumps, the hearts of soft robots, are typically electrically powereddisplacement pumps due to their availability, efficiency, performance curves, and control simplicity.…”

Section: Introductionmentioning

confidence: 99%

Magnetohydrodynamic levitation for high-performance flexible pumps

Matia

Shepherd

et al. 2022

Proc. Natl. Acad. Sci. U.S.A.

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We use magnetohydrodynamic levitation as a means to create a soft, elastomeric, solenoid-driven pump (ESP). We present a theoretical framework and fabrication of a pump designed to address the unique challenges of soft robotics, maintaining pumping performance under deformation. Using a permanent magnet as a piston and ferrofluid as a liquid seal, we model and construct a deformable displacement pump. The magnet is driven back and forth along the length of a flexible core tube by a series of solenoids made of thin conductive wire. The magnet piston is kept concentric within the tube by Maxwell stresses within the ferrofluid and magnetohydrodynamic levitation, as viscous lift pressure is created due to its forward velocity. The centering of the magnet reduces shear stresses during pumping and improves efficiency. We provide a predictive model and capture the transient nonlinear dynamics of the magnet during operation, leading to a parametric performance curve characterizing the ESP, enabling goal-driven design. In our experimental validation, we report a shut-off pressure of 2 to 8 kPa and run-out flow rate of 50 to 320 mL⋅min −1 , while subject to deformation of its own length scale, drawing a total of 0.17 W. This performance leads to the highest reported duty point (i.e., pressure and flow rate provided under load) for a pump that operates under deformation of its own length scale. We then integrate the pump into an elastomeric chassis and squeeze it through a tortuous pathway while providing continuous fluid pressure and flow rate; the vehicle then emerges at the other end and propels itself swimming.

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Integrated flexible microactuator systems

Cited by 18 publications

References 8 publications

Soft Robotics: Review of Fluid‐Driven Intrinsically Soft Devices; Manufacturing, Sensing, Control, and Applications in Human‐Robot Interaction

Soft Robotics: Review of Fluid‐Driven Intrinsically Soft Devices; Manufacturing, Sensing, Control, and Applications in Human‐Robot Interaction

Recent advances in biomimetic soft robotics: fabrication approaches, driven strategies and applications

Magnetohydrodynamic levitation for high-performance flexible pumps

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