Synthetic Muscle electroactive polymer (EAP) based actuation and sensing for prosthetic and robotic applications

Rasmussen, Lenore; Rodriguez, Simone; Bowers, Matthew P.; Franzini, Gabrielle; Gentile, C.; Ascione, G.; Hitchner, Robert; Taylor, J. T.; Hoffman, Dan; Moy, Leon; Mark, Patrick S.; Prillaman, Daniel L.; Nodarse, Robert; Menegus, Michael J.; Carpenter, Ryan; Martin, Daniel E.; Maltese, Matthew R.; Seacrist, Thomas; Furlong, Cosme; Razavi, Payam; Martino, Greig

doi:10.1117/12.2297660

Cited by 7 publications

(2 citation statements)

References 2 publications

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“…The design placed actuators around joints for biomimetic linked actuation, focused on the pincer grip. The sensor development used EAP technology [6,7,8,9,10,11] towards tactile fingertips, where the padded areas served dual use as a soft compliant interface while also sensing mechanical pressure, positional information, and other features. These Tactile Fingertips™ were retrofitted into standard off-the-shelf robotic grippers and end of arm tooling (EOAT) (Figure 1).…”

Section: Introductionmentioning

confidence: 99%

Sensitive robust tactile fingertips and shape-morphing actuation for robotic grippers

Briggs¹,

Sporidis²,

Vicars³

et al. 2023

Electroactive Polymer Actuators and Devices (EAPAD) XXV

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Human grasp is gentle yet firm, with integrated tactile touch feedback. Current robotic sensing is mainly visual, which is useful up until the point of contact. To understand how an object is being gripped, tactile feedback is needed. Ras Labs makes Synthetic Muscle™, which is a class of electroactive polymer (EAP) based materials and actuators that sense pressure from gentle touch to high impact, controllably contract and expand at low voltage (battery levels), and attenuate force. EAP development towards sensing provided for fingertip-like sensors that were able to detect very light pressures to 0.005 N and with a wide pressure range over 45 N with high linearity. Algorithms, machine learning (ML), and artificial intelligence (AI) were integrated into these sensors for object and grip determination (position, grip force, any slip or wobble) and immediate correction for pick-and-place and other applications. High tack EAPs also have good adhesion to a variety of substances and had self-healing properties. Using these adhesive EAPs and other strategies, sensors and actuators were created where all components stay together. Synthetic Muscle™ was also being retrofitted as actuators into a partial human hand-like biomimetic gripper that focused on the pincer grip. The combination of EAP shape-morphing and sensing promises the potential for robotic grippers with human hand-like control and tactile sensing. This is expected to advance robotics, whether it is for agriculture, medical surgery, therapeutic or personal care, or in hazardous environments where humans cannot enter, as well as for collaborative robotics to allow humans and robots to intuitively work safely and effectively together.

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Section: Introductionmentioning

confidence: 99%

Sensitive robust tactile fingertips and shape-morphing actuation for robotic grippers

Briggs¹,

Sporidis²,

Vicars³

et al. 2023

Electroactive Polymer Actuators and Devices (EAPAD) XXV

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“…Characterization of Synthetic Muscle™ as dual use pressure sensors was initiated. This is a continuation Ras Labs' dynamic prosthetic pad project, which demonstrated how the volume of the EAP can be changed from applying a low voltage and operating temperatures for use in adjustable prosthetic liners and sockets [1][2][3][4][5][6][7][8] .…”

Section: Introductionmentioning

confidence: 99%

Adjustable Liners and Sockets for Prosthetic Devices

Rasmussen¹,

Rodriguez²,

Bowers³

et al. 2018

Can. Prosthet. Orthot. J.

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INTRODUCTION Ras Labs’ Synthetic Muscle™ will allow amputees to continue their active lives without needing to adjust the fitting of their prosthetic device(s) throughout the day. This technology promises to resolve major issues facing amputees, most notably the pain of prosthetic slippage and tissue breakdown. Synthetic Muscle™, comprising electroactive polymers (EAPs), actively expand or contract at low voltages, while offering impact resistance and pressure sensing, all in one integrated solution. The main objectives of this project is to determine the feasibility of the EAP pads incorporated into prosthetic liners or sockets and to create prototypes of these EAP based shape-morphing pad systems. In collaboration with UPI, testing of these EAP based pads located in strategic areas of the socket was initiated with customers (BK and AK) for evaluation and feedback. Characterization of Synthetic Muscle™ as dual use pressure sensors was initiated. This is a continuation Ras Labs’ dynamic prosthetic pad project, which demonstrated how the volume of the EAP can be changed from applying a low voltage and operating temperatures for use in adjustable prosthetic liners and sockets 1-8. Abstract PDF Link: https://jps.library.utoronto.ca/index.php/cpoj/article/view/32048/24462 How to cite: Rasmussen L, Rodriguez S, Bowers M, Smith D, Martino G, Rizzo L, Scheiber C, d’Almeida J, Dillis C. Adjustable Liners and Sockets for Prosthetic Devices. CANADIAN PROSTHETICS & ORTHOTICS JOURNAL, VOLUME 1, ISSUE 2, 2018; ABSTRACT, POSTER PRESENTATION AT THE AOPA’S 101ST NATIONAL ASSEMBLY, SEPT. 26-29, VANCOUVER, CANADA, 2018. DOI: https://doi.org/10.33137/cpoj.v1i2.32048 Abstracts were Peer-reviewed by the American Orthotic Prosthetic Association (AOPA) 101st National Assembly Scientific Committee. http://www.aopanet.org/

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Synthetic Muscle™ for Deep Space Travel and Other Applications on Earth and in Space

et al. 2021

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Synthetic Muscle electroactive polymer (EAP) based actuation and sensing for prosthetic and robotic applications

Cited by 7 publications

References 2 publications

Sensitive robust tactile fingertips and shape-morphing actuation for robotic grippers

Sensitive robust tactile fingertips and shape-morphing actuation for robotic grippers

Adjustable Liners and Sockets for Prosthetic Devices

Synthetic Muscle™ for Deep Space Travel and Other Applications on Earth and in Space

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