Viscoelastic constitutive models and their fractional representatives to capture the time-dependent response of DEAs on sinus excitation

Karner, Timi; Gotlih, Janez

doi:10.1088/1361-665x/ac1305

Cited by 4 publications

(3 citation statements)

References 36 publications

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“…According to Burgers theory [32,33], the relationship between the stress and the strain of the soft material in the soft actuator can be simplified as…”

Section: Time-domain Energy Modelmentioning

confidence: 99%

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Energy-saving trajectory optimization of a fluidic soft robotic arm

Wang¹,

Yao²,

Zhu³

2022

Smart Mater. Struct.

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Soft robots have attracted increasing attention due to inherent environmental adaptability and reliable human-machine interaction. However, there is relatively few research about their energy efficiency which acts as an important indicator. This paper firstly derives the time-domain model of energy consumption for a fluidic soft robotic arm. With the introduction of forward kinematics, the trajectory of the soft robotic arm is optimized for energy saving under motion constraints and solved using interior point method. A series of experiments are implemented to evaluate the performance of the proposed model and the optimized trajectory. The results show that the time-based model can capture the dynamical energy behaviors of the fluidic soft actuators under various motions. It is also found that the energy consumption of the soft robotic arm is effectively reduced when the trajectory optimization is applied. This work can provide further reference to the energy-based optimization of the soft robots.

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“…According to Burgers theory [32,33], the relationship between the stress and the strain of the soft material in the soft actuator can be simplified as…”

Section: Time-domain Energy Modelmentioning

confidence: 99%

“…The optimization problem is formulated by substituting (33) and ( 34) into (10) and (32). As an effective method for nonlinear convex optimization, the interior point method is utilized to solve the problem.…”

Section: Energy-saving Trajectory Planningmentioning

confidence: 99%

Energy-saving trajectory optimization of a fluidic soft robotic arm

Wang¹,

Yao²,

Zhu³

2022

Smart Mater. Struct.

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“…Wang et al developed an analytical electromechanical model for a spring-connected conical DEA [49]. Karner et al investigated how different viscoelastic constitutive models capture the time-dependent deformation of DEA under sinusoidal excitation [76]. Analytical models have also been developed to study the effect of mechanical pre-stress on the dynamic performance and stability of dielectric beams [77] and membranes [78].…”

Section: Introductionmentioning

confidence: 99%

Design principles for a single-process 3D-printed stacked dielectric actuators — Theory and experiment

Palmić

Slavič

2023

International Journal of Mechanical Sciences

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Integrating classical and fractional calculus rheological models in developing hydroxyapatite-enhanced hydrogels

Cambeses-Franco,

Rial,

Ruso

2024

Physics of Fluids

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This study presents a novel method for comprehending the rheological behavior of biomaterials utilized in bone regeneration. The focus is on gelatin, alginate, and hydroxyapatite nanoparticle composites to enhance their mechanical properties and osteoconductive potential. Traditional rheological models are insufficient for accurately characterizing the behavior of these composites due to their complexity and heterogeneity. To address this issue, we utilized fractional calculus rheological models, such as the Scott-Blair, Fractional Kelvin-Voigt, Fractional Maxwell, and Fractional Kelvin-Zener models, to accurately represent the viscoelastic properties of the hydrogels. Our findings demonstrate that the fractional calculus approach is superior to classical models in describing the intricate, time-dependent behaviors of the hydrogel-hydroxyapatite composites. Furthermore, the addition of hydroxyapatite not only improves the mechanical strength of hydrogels but also enhances their bioactivity. These findings demonstrate the potential of these composites in bone tissue engineering applications. The study highlights the usefulness of fractional calculus in biomaterials science, providing new insights into the design and optimization of hydrogel-based scaffolds for regenerative medicine.

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Viscoelastic constitutive models and their fractional representatives to capture the time-dependent response of DEAs on sinus excitation

Cited by 4 publications

References 36 publications

Energy-saving trajectory optimization of a fluidic soft robotic arm

Energy-saving trajectory optimization of a fluidic soft robotic arm

Design principles for a single-process 3D-printed stacked dielectric actuators — Theory and experiment

Integrating classical and fractional calculus rheological models in developing hydroxyapatite-enhanced hydrogels

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