Modeling of One-ply and Two-ply Twisted and Coiled Polymer (TCP) Artificial Muscles

Karami, Farzad; Wu, Lianjun; Tadesse, Yonas

doi:10.1109/tmech.2020.3014931

Cited by 18 publications

(13 citation statements)

References 30 publications

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“…In future study, the variable stiffness function will be added to the soft robot module so that the configured gripper can grasp a larger range of objects. In addition, theoretical modeling will be established to study the interaction between the two-ply SCPAM actuator and the soft body in a future study based on SCPAM modeling [ 63 ] and hyperelastic material modeling. The third-order polynomial model used to predict the bending angle of the crawling robot is not from a physical perspective, resulting in inaccurate predictions.…”

Section: Discussionmentioning

confidence: 99%

A Proprioceptive Soft Robot Module Based on Supercoiled Polymer Artificial Muscle Strings

et al. 2022

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In this paper, a multi-functional soft robot module that can be used to constitute a variety of soft robots is proposed. The body of the soft robot module made of rubber is in the shape of a long strip, with cylindrical chambers at both the top end and bottom end of the module for the function of actuators and sensors. The soft robot module is driven by supercoiled polymer artificial muscle (SCPAM) strings, which are made from conductive nylon sewing threads. Artificial muscle strings are embedded in the chambers of the module to control its deformation. In addition, SCPAM strings are also used for the robot module’s sensing based on the linear relationship between the string’s length and their resistance. The bending deformation of the robot is measured by the continuous change of the sensor’s resistance during the deformation of the module. Prototypes of an inchworm-like crawling robot and a soft robotic gripper are made, whose crawling ability and grasping ability are tested, respectively. We envision that the proposed proprioceptive soft robot module could potentially be used in other robotic applications, such as continuum robotic arm or underwater robot.

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Section: Discussionmentioning

confidence: 99%

A Proprioceptive Soft Robot Module Based on Supercoiled Polymer Artificial Muscle Strings

et al. 2022

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“…82,89,90,95,96 In the third section, we describe the self-supported, twisted artificial muscles constructed using chemical bonds or non-covalent interactions, such as polymer infiltration and coating, 76,87,98,99 solvent immersion and evaporation, 70 thermal annealing, [100][101][102][103][104][105] and cross-linking of chemical bonds. 106,107 In the following sections, we summarize the abovementioned tethering methods that are adopted considering the actuation modes (rotation, contraction, and elongation) and actuation stimuli (thermal, electro-thermal, electrochemical, and water and organic moisture) of the actuators. Homochirally or heterochirally coiled tensile artificial muscles are prepared by wrapping a twisted fiber around a mandrel with the same or opposite chirality to that of the twist of the fiber, respectively; this is followed by creation of a chemical or physical network that sets the configuration of the structure.…”

Section: Tethering Of Twisted-fiber Artificial Musclesmentioning

confidence: 99%

Tethering of twisted-fiber artificial muscles

et al. 2023

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“…The mathematical models are necessary to develop robust control strategies required for high-performance applications. [71,84,122] Hence, most of the evaluated devices used open-loop control schemes toggling between two different predefined levels to alter the length of the AMSM.…”

Section: Swrr Based On Amsm Limitationsmentioning

confidence: 99%

“…Furthermore, there is still a lack of mathematical models that can represent all the physical transformations that the actuators present. [71,84,122] Hence, research on new theoretical models and manufacturing processes that permit or use different compounds to improve the performance of AMSM is still needed.…”

Section: Summary and Future Developmentsmentioning

confidence: 99%

Soft Wearable Rehabilitation Robots with Artificial Muscles based on Smart Materials: A Review

Gonzalez-Vazquez

Garcia

Kilby

et al. 2023

Advanced Intelligent Systems

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During the past decade, wearable devices such as exoskeletons have gained popularity [1] in different fields, such as the military, [2] industry, [3] and rehabilitation. [4] In the latter, rehabilitation exoskeletons are used to restore or maintain the functionality and mobility of people with physical disabilities. [5] These are receiving greater attention as the number of people with disabilities affecting physical performance will increase in the following decades as the population ages and individuals live longer with noncommunicable conditions (e.g., cerebral palsy, stroke, acquired brain injuries, and muscular dystrophies). [6][7][8] Most current exoskeletons use electric motors and rigid links to realize actuation and often have heavy and bulky designs that are difficult to safely wear outside clinical facilities. [9] Hence, researchers in this area are working to develop soft wearable rehabilitation robots (SWRRs), featuring soft actuators that are agreeable to the users as they have increased compliance, adaptability, comfort, safety, and less weight. [10][11][12] Currently, SWRR relies mainly upon two soft robotic technologies, cable-driven and fluidic actuators. For a cable-driven system, the wire is embedded into clothes or tubes and attached to an anchor point. The other side of the wire is connected to an electric motor to generate the desired movement and force by pulling the cable [13,14] (Figure 1a). Alternatively, in fluidic actuation (Hydraulic/Pneumatic), a pressurized fluid is inserted into a chamber made of highly deformable material to generate a displacement [11,15,16] (Figure 1b). However, these require large and heavy external pumps and valves to compress the fluid. [17] Unfortunately, cable-driven and fluidic actuation need cumbersome components (e.g., electric motors, pumps, and valves) to work, compromising the portability of the systems when used in daily life. [18] Therefore, in recent years, research has been committed to developing new actuator technologies that can overcome the drawbacks of the current actuators used in SWRR. These technologies include artificial muscles based on smart materials (AMSMs). AMSMs are soft actuators composed primarily of material with a low Young's modulus similar to that of soft biological materials (10 ^4-10 ^9 Pa) that can sense and directly convert physical stimulus (e.g., light, electrical, heat) into physical displacement. [19][20][21][22][23] Some examples of smart materials are shape-memory alloy (SMA), [24] dielectric elastomer actuators (DEAs), [25] ionic polymer-metal composites (IPMC), [26] shapememory polymers (SMPs), [27] and twisted and coiled polymer actuators (TCPs). [28] Due to their inherent properties and manufacturing processes, AMSM can be fabricated in various shapes, allowing them to be embedded into flexible and deformable wearable devices. [29][30][31][32] Furthermore, it is possible to fabricate robots with a relatively small weight and volume as they present a power density comparable to the skeletal muscles. [33] Neverthe...

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Modeling of One-ply and Two-ply Twisted and Coiled Polymer (TCP) Artificial Muscles

Cited by 18 publications

References 30 publications

A Proprioceptive Soft Robot Module Based on Supercoiled Polymer Artificial Muscle Strings

A Proprioceptive Soft Robot Module Based on Supercoiled Polymer Artificial Muscle Strings

Tethering of twisted-fiber artificial muscles

Soft Wearable Rehabilitation Robots with Artificial Muscles based on Smart Materials: A Review

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