受章鱼启发的肌肉静水器,由扭曲和盘绕的人造肌肉提供动力。

Soft robotics Pub Date : 2024-06-01 Epub Date: 2023-11-16 DOI:10.1089/soro.2023.0069
Parth Kotak, Sean Maxson, Thilina Weerakkody, Venanzio Cichella, Caterina Lamuta
{"title":"受章鱼启发的肌肉静水器,由扭曲和盘绕的人造肌肉提供动力。","authors":"Parth Kotak, Sean Maxson, Thilina Weerakkody, Venanzio Cichella, Caterina Lamuta","doi":"10.1089/soro.2023.0069","DOIUrl":null,"url":null,"abstract":"<p><p>Traditional robots are characterized by rigid structures, which restrict their range of motion and their application in environments where complex movements and safe human-robot interactions are required. Soft robots inspired by nature and characterized by soft compliant materials have emerged as an exciting alternative in unstructured environments. However, the use of multicomponent actuators with low power/weight ratios has prevented the development of truly bioinspired soft robots. Octopodes' limbs contain layers of muscular hydrostats, which provide them with a nearly limitless range of motions. In this work, we propose octopus-inspired muscular hydrostats powered by an emerging class of artificial muscles called twisted and coiled artificial muscles (TCAMs). TCAMs are fabricated by twisting and coiling inexpensive fibers, can sustain stresses up to 60 MPa, and provide tensile strokes of nearly 50% with <0.2 V/cm of input voltage. These artificial muscles overcome the limitations of other actuators in terms of cost, power, and portability. We developed four different configurations of muscular hydrostats with TCAMs arranged in different orientations to reproduce the main motions of octopodes' arms: shortening, torsion, bending, and extension. We also assembled an untethered waterproof device with on-board control, sensing, actuation, and a power source for driving our hydrostats underwater. The proposed TCAM-powered muscular hydrostats will pave the way for the development of compliant bioinspired robots that can be used to explore the underwater world and perform complex tasks in harsh and dangerous environments.</p>","PeriodicalId":94210,"journal":{"name":"Soft robotics","volume":" ","pages":"432-443"},"PeriodicalIF":0.0000,"publicationDate":"2024-06-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":"0","resultStr":"{\"title\":\"Octopus-Inspired Muscular Hydrostats Powered By Twisted and Coiled Artificial Muscles.\",\"authors\":\"Parth Kotak, Sean Maxson, Thilina Weerakkody, Venanzio Cichella, Caterina Lamuta\",\"doi\":\"10.1089/soro.2023.0069\",\"DOIUrl\":null,\"url\":null,\"abstract\":\"<p><p>Traditional robots are characterized by rigid structures, which restrict their range of motion and their application in environments where complex movements and safe human-robot interactions are required. Soft robots inspired by nature and characterized by soft compliant materials have emerged as an exciting alternative in unstructured environments. However, the use of multicomponent actuators with low power/weight ratios has prevented the development of truly bioinspired soft robots. Octopodes' limbs contain layers of muscular hydrostats, which provide them with a nearly limitless range of motions. In this work, we propose octopus-inspired muscular hydrostats powered by an emerging class of artificial muscles called twisted and coiled artificial muscles (TCAMs). TCAMs are fabricated by twisting and coiling inexpensive fibers, can sustain stresses up to 60 MPa, and provide tensile strokes of nearly 50% with <0.2 V/cm of input voltage. These artificial muscles overcome the limitations of other actuators in terms of cost, power, and portability. We developed four different configurations of muscular hydrostats with TCAMs arranged in different orientations to reproduce the main motions of octopodes' arms: shortening, torsion, bending, and extension. We also assembled an untethered waterproof device with on-board control, sensing, actuation, and a power source for driving our hydrostats underwater. The proposed TCAM-powered muscular hydrostats will pave the way for the development of compliant bioinspired robots that can be used to explore the underwater world and perform complex tasks in harsh and dangerous environments.</p>\",\"PeriodicalId\":94210,\"journal\":{\"name\":\"Soft robotics\",\"volume\":\" \",\"pages\":\"432-443\"},\"PeriodicalIF\":0.0000,\"publicationDate\":\"2024-06-01\",\"publicationTypes\":\"Journal Article\",\"fieldsOfStudy\":null,\"isOpenAccess\":false,\"openAccessPdf\":\"\",\"citationCount\":\"0\",\"resultStr\":null,\"platform\":\"Semanticscholar\",\"paperid\":null,\"PeriodicalName\":\"Soft robotics\",\"FirstCategoryId\":\"1085\",\"ListUrlMain\":\"https://doi.org/10.1089/soro.2023.0069\",\"RegionNum\":0,\"RegionCategory\":null,\"ArticlePicture\":[],\"TitleCN\":null,\"AbstractTextCN\":null,\"PMCID\":null,\"EPubDate\":\"2023/11/16 0:00:00\",\"PubModel\":\"Epub\",\"JCR\":\"\",\"JCRName\":\"\",\"Score\":null,\"Total\":0}","platform":"Semanticscholar","paperid":null,"PeriodicalName":"Soft robotics","FirstCategoryId":"1085","ListUrlMain":"https://doi.org/10.1089/soro.2023.0069","RegionNum":0,"RegionCategory":null,"ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":null,"EPubDate":"2023/11/16 0:00:00","PubModel":"Epub","JCR":"","JCRName":"","Score":null,"Total":0}
引用次数: 0

摘要

传统机器人的特点是刚性结构,这限制了它们的运动范围,限制了它们在需要复杂运动和安全人机交互的环境中的应用。软体机器人受到大自然的启发,以柔软柔顺的材料为特征,已经成为非结构化环境中令人兴奋的替代品。然而,使用低功率/重量比的多元件驱动器阻碍了真正仿生软机器人的发展。章鱼的四肢包含了多层的肌肉静水器,这为它们提供了几乎无限的运动范围。在这项工作中,我们提出了受章鱼启发的肌肉静水器,它由一种新兴的人造肌肉提供动力,这种人造肌肉被称为扭曲和卷曲人造肌肉(TCAMs)。tcam是通过扭曲和盘绕廉价纤维制成的,可以承受高达60 MPa的应力,并提供近50%的拉伸行程
本文章由计算机程序翻译,如有差异,请以英文原文为准。
Octopus-Inspired Muscular Hydrostats Powered By Twisted and Coiled Artificial Muscles.

Traditional robots are characterized by rigid structures, which restrict their range of motion and their application in environments where complex movements and safe human-robot interactions are required. Soft robots inspired by nature and characterized by soft compliant materials have emerged as an exciting alternative in unstructured environments. However, the use of multicomponent actuators with low power/weight ratios has prevented the development of truly bioinspired soft robots. Octopodes' limbs contain layers of muscular hydrostats, which provide them with a nearly limitless range of motions. In this work, we propose octopus-inspired muscular hydrostats powered by an emerging class of artificial muscles called twisted and coiled artificial muscles (TCAMs). TCAMs are fabricated by twisting and coiling inexpensive fibers, can sustain stresses up to 60 MPa, and provide tensile strokes of nearly 50% with <0.2 V/cm of input voltage. These artificial muscles overcome the limitations of other actuators in terms of cost, power, and portability. We developed four different configurations of muscular hydrostats with TCAMs arranged in different orientations to reproduce the main motions of octopodes' arms: shortening, torsion, bending, and extension. We also assembled an untethered waterproof device with on-board control, sensing, actuation, and a power source for driving our hydrostats underwater. The proposed TCAM-powered muscular hydrostats will pave the way for the development of compliant bioinspired robots that can be used to explore the underwater world and perform complex tasks in harsh and dangerous environments.

求助全文
通过发布文献求助,成功后即可免费获取论文全文。 去求助
来源期刊
自引率
0.00%
发文量
0
×
引用
GB/T 7714-2015
复制
MLA
复制
APA
复制
导出至
BibTeX EndNote RefMan NoteFirst NoteExpress
×
提示
您的信息不完整,为了账户安全,请先补充。
现在去补充
×
提示
您因"违规操作"
具体请查看互助需知
我知道了
×
提示
确定
请完成安全验证×
copy
已复制链接
快去分享给好友吧!
我知道了
右上角分享
点击右上角分享
0
联系我们:info@booksci.cn Book学术提供免费学术资源搜索服务,方便国内外学者检索中英文文献。致力于提供最便捷和优质的服务体验。 Copyright © 2023 布克学术 All rights reserved.
京ICP备2023020795号-1
ghs 京公网安备 11010802042870号
Book学术文献互助
Book学术文献互助群
群 号:481959085
Book学术官方微信