Silicone based artificial skin for humanoid facial expressions

Tadesse, Yonas; Moore, David; Thayer, Nick; Priya, Shashank

doi:10.1117/12.815684

Cited by 8 publications

(3 citation statements)

References 0 publications

Supporting

Mentioning

Contrasting

Order By: Relevance

“…The load sensor on the manipulator arm records the force applied in displacing the anchor for an incremental displacement of 0.05 mm. Using the silicone based skin the force requirements were found to be in the range of 2-5 N. This is clearly huge force for the electroactive polymers and thus improvement is required on both endsactuators with higher force generation and skin with lower force requirements [19] for creating desired deformation. The large force requirement could also be overcome by arranging the actuators in parallel so that a commutative effect could be achieved (or bundling) as depicted schematically in figure 1.…”

Section: Facial Musclesmentioning

confidence: 99%

Synthesis and cyclic force characterization of helical polypyrrole actuators for artificial facial muscles

Tadesse¹,

Grange²,

Priya³

2009

Smart Mater. Struct.

Self Cite

View full text Add to dashboard Cite

This study focuses on the synthesis and characterization of thick and thin film polypyrrole (PPy)–metal composite actuators for application as artificial muscles in facial robotics. The fabrication method consists of three steps based upon the approach proposed by Ding et al (2003 Synth. Met. 138 391–8): (i) winding the conductive spiral structure around the platinum (Pt) wire core, (ii) deposition of PPy film on the Pt wire core, and (iii) removal of the Pt wire core. This approach yielded good performance from the synthesized actuators, but was complex to implement due to the difficulty in implementing the third step. To overcome the problem of mechanical damage occurring during withdrawal of the Pt wire, the core was replaced with a dispensable gold coated polylactide fiber that could be etched at the end of deposition step. Experimental results indicate that thin film actuators perform better in terms of response time and blocking force. A unique muscle-like structure with smoothly varying cross-section was grown by combining layer by layer deposition with changes in position and orientation of the counter electrode in reference to the working electrode.

show abstract

Section: Facial Musclesmentioning

confidence: 99%

Synthesis and cyclic force characterization of helical polypyrrole actuators for artificial facial muscles

Tadesse¹,

Grange²,

Priya³

2009

Smart Mater. Struct.

Self Cite

View full text Add to dashboard Cite

show abstract

“…Copyright is held by the author/owner(s In this paper, we introduce a method of involuntary goose bumps of an embodied robot. Although there have been many researches on artificial haptic-sensory skin [4] and discussions of materials for facial expression [3], we can find few trials related to expressions on surface of robots. The goose bumps are caused both of external stimuli such as cold temperature and internal state such as fear.…”

Section: Introductionmentioning

confidence: 99%

Involuntary expression of embodied robot adopting goose bumps

Yonezawa

Meng

Yoshida

et al. 2014

Proceedings of the 2014 ACM/IEEE International Conference on Human-Robot Interaction

View full text Add to dashboard Cite

In this paper, we propose an involuntary expression of embodied robots by adopting goose bumps. The goose bumps are caused by not only external stimuli such as cold temperature but also the internal state of the robot such as fear. For more natural anthropomorphism, the combination of involuntary and voluntary expressions should enable realistic animacy and life-like agency. The bumps on the robot's skin are generated by changing lengths of thin rods from each hole. The lengths are controlled by a servo motor which pulls nylon strings connected to the base of thin rods.

show abstract

“…Figure 3 shows the test setup used for the measurement of the force and deflection characteristics of BISMAC actuators in underwater conditions. The actuators were naturally waterresistant as they are encapsulated in hydrophobic silicone material [11]. A thin nylon monofilament was attached on both sides of the BISMAC actuator tip.…”

mentioning

confidence: 99%

Working principle of bio-inspired shape memory alloy composite actuators

Smith

Villanueva

Joshi

et al. 2010

Smart Mater. Struct.

Self Cite

View full text Add to dashboard Cite

Recently, bio-inspired shape memory alloy composite (BISMAC) actuators have been shown to mimic the deformation characteristics of natural jellyfish medusa. In this study, a constant cross-section BISMAC actuator was characterized in terms of bending deflection and force in conjunction with microscopy to understand its deformation mechanism. The actuator showed bending deflection of 111% with respect to the active length along with a blocking force of 0.061 N. The resulting energy density of the composite actuator was 4929 J m −3 at an input voltage and current level of 12 V and 0.7 A, respectively. For a dry-state actuator, this performance is extremely high and represents an optimum combination of force and deflection. Experiments reveal that BISMAC's performance is related to the moment induced from tip attachment of the shape memory alloy (SMA) rather than to friction within the composite structure. A physics-based model of BISMAC structure is presented which shows that the actuator is highly sensitive to the distance between the SMA wire and the incompressible component. While SMA has both stress and strain limitations, the limiting factor in BISMAC actuators is dependent on separation distance. The limiting factor in BISMAC's suitability for mimicking the performance of medusa was experimentally found to be related to the maximum 4% strain of the SMA and not its force generation.

show abstract

Silicone based artificial skin for humanoid facial expressions

Cited by 8 publications

References 0 publications

Synthesis and cyclic force characterization of helical polypyrrole actuators for artificial facial muscles

Synthesis and cyclic force characterization of helical polypyrrole actuators for artificial facial muscles

Involuntary expression of embodied robot adopting goose bumps

Working principle of bio-inspired shape memory alloy composite actuators

Contact Info

Product

Resources

About