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Shin J, Jamil B, Moon H, Koo JC, Choi HR, Rodrigue H. Thermo-Pneumatic Artificial Muscle: Air-Based Thermo-Pneumatic Artificial Muscles for Pumpless Pneumatic Actuation. Soft Robot 2024; 11:187-197. [PMID: 37646778 DOI: 10.1089/soro.2022.0229] [Citation(s) in RCA: 0] [Impact Index Per Article: 0] [Reference Citation Analysis] [Abstract] [Key Words] [MESH Headings] [Track Full Text] [Journal Information] [Subscribe] [Scholar Register] [Indexed: 09/01/2023] Open
Abstract
To make robots more human-like and safer to use around humans, artificial muscles exhibiting compliance have gained significant attention from researchers. However, despite having excellent performance, pneumatic artificial muscles (PAMs) have failed to gain significant traction in commercial mobile applications due to their requirement to be tethered to a pneumatic source. This study presents a thermo-PAM called Thermo-PAM that relies on heating of a volume of air to produce a deformation. This allows for pneumatic actuation using only an electrical power source and thus enables pumpless pneumatic actuation. The actuator uses a high ratio between the heating volume and the deformable volume to produce a high actuation force throughout its entire motion and can produce either contractile or extension motions. The controllability of the actuator was demonstrated as well as its ability to handle heavy payloads. Moreover, it is possible to rely on either positive or negative pressure actuation modes where the positive pressure actuation mode actuates when heated and the negative pressure actuation mode relaxes when heated. The ability to use Thermo-PAMs for different modes of actuation with different operation methods makes the proposed actuator highly versatile and demonstrates its potential for advanced pumpless robotic applications.
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Affiliation(s)
- Jiseong Shin
- School of Mechanical Engineering, Sungkyunkwan University, Suwon, Korea
| | - Babar Jamil
- School of Mechanical Engineering, Sungkyunkwan University, Suwon, Korea
| | - Hyungpil Moon
- School of Mechanical Engineering, Sungkyunkwan University, Suwon, Korea
| | - Ja Choon Koo
- School of Mechanical Engineering, Sungkyunkwan University, Suwon, Korea
| | - Hyouk Ryeol Choi
- School of Mechanical Engineering, Sungkyunkwan University, Suwon, Korea
| | - Hugo Rodrigue
- School of Mechanical Engineering, Sungkyunkwan University, Suwon, Korea
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Kim YI, An S, Park C, Kim T, Aldalbahi A, Hatshan MR, Yarin AL, Yoon SS. Nanotextured Soft Electrothermo-Pneumatic Actuator for Constructing Lightweight, Integrated, and Untethered Soft Robotics. Soft Robot 2021; 9:960-969. [PMID: 34918958 DOI: 10.1089/soro.2020.0142] [Citation(s) in RCA: 0] [Impact Index Per Article: 0] [Reference Citation Analysis] [Abstract] [Key Words] [Track Full Text] [Journal Information] [Subscribe] [Scholar Register] [Indexed: 11/12/2022] Open
Abstract
In this study, we fabricated a nanofiber-based electrothermo-pneumatic soft actuator (ETPSA) using electrospinning technique. The actuator uses liquid-vapor phase transition. The ETPSA developed in the present study goes beyond the limitations of the existing pneumatic soft actuators. The present ETPSA has a built-in source of heat (Joule heating from an embedded metal wire) and allows the smooth anthropomorphic movement of the actuator and, in particular, eliminates the use of external pumping systems that are indispensable in the existing pneumatic soft actuators and robots. In addition, since the present ETPSA can be operated effectively even using a portable miniature battery, it holds great promise as an adaptable soft actuator for various robotic applications with high energy efficiency and programmable motions.
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Affiliation(s)
- Yong Il Kim
- Department of Mechanical Engineering, Korea University, Seoul, Republic of Korea
| | - Seongpil An
- SKKU Advanced Institute of Nanotechnology (SAINT), Department of Nano Engineering, Sungkyunkwan University (SKKU), Suwon, Republic of Korea
| | - Chanwoo Park
- Department of Mechanical Engineering, Korea University, Seoul, Republic of Korea
| | - Taegun Kim
- Department of Mechanical Engineering, Korea University, Seoul, Republic of Korea
| | - Ali Aldalbahi
- Department of Chemistry, College of Science, King Saud University, Riyadh, Saudi Arabia
| | - Mohammad Rafe Hatshan
- Department of Chemistry, College of Science, King Saud University, Riyadh, Saudi Arabia
| | - Alexander L Yarin
- Department of Mechanical and Industrial Engineering, University of Illinois at Chicago, Chicago, Illinois, USA
| | - Sam S Yoon
- Department of Mechanical Engineering, Korea University, Seoul, Republic of Korea
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Thermopneumatic Soft Micro Bellows Actuator for Standalone Operation. MICROMACHINES 2021; 12:mi12010046. [PMID: 33401505 PMCID: PMC7823825 DOI: 10.3390/mi12010046] [Citation(s) in RCA: 1] [Impact Index Per Article: 0.3] [Reference Citation Analysis] [Abstract] [Key Words] [Track Full Text] [Download PDF] [Figures] [Subscribe] [Scholar Register] [Received: 11/30/2020] [Revised: 12/29/2020] [Accepted: 12/29/2020] [Indexed: 12/17/2022]
Abstract
Typical pneumatic soft micro actuators can be manufactured without using heavy driving components such as pumps and power supplies by adopting an independent battery-powered mechanism. In this study, a thermopneumatically operated soft micro bellows actuator was manufactured, and the standalone operation of the actuator was experimentally validated. Thermopneumatic actuation is based on heating a sealed cavity inside the elastomer of the actuator to raise the pressure, leading to deflection of the elastomer. The bellows actuator was fabricated by casting polydimethylsiloxane (PDMS) using the 3D-printed soluble mold technique to prevent leakage, which is inherent in conventional soft lithography due to the bonding of individual layers. The heater, manufactured separately using winding copper wire, was inserted into the cavity of the bellows actuator, which together formed the thermopneumatic actuator. The 3D coil heater and bellows allowed immediate heat transfer and free movement in the intended direction, which is unachievable for conventional microfabrication. The fabricated actuator produced a stroke of 2184 μm, equivalent to 62% of the body, and exerted a force of 90.2 mN at a voltage of 0.55 V. A system in which the thermopneumatic actuator was driven by alkaline batteries and a control circuit also demonstrated a repetitive standalone operation.
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Chellattoan R, Yudhanto A, Lubineau G. Low-Voltage-Driven Large-Amplitude Soft Actuators Based on Phase Transition. Soft Robot 2020; 7:688-699. [DOI: 10.1089/soro.2019.0150] [Citation(s) in RCA: 11] [Impact Index Per Article: 2.8] [Reference Citation Analysis] [Track Full Text] [Journal Information] [Subscribe] [Scholar Register] [Indexed: 11/13/2022] Open
Affiliation(s)
- Ragesh Chellattoan
- COHMAS Laboratory, Division of Physical Sciences and Engineering, King Abdullah University of Science and Technology, Thuwal, Saudi Arabia
| | - Arief Yudhanto
- COHMAS Laboratory, Division of Physical Sciences and Engineering, King Abdullah University of Science and Technology, Thuwal, Saudi Arabia
| | - Gilles Lubineau
- COHMAS Laboratory, Division of Physical Sciences and Engineering, King Abdullah University of Science and Technology, Thuwal, Saudi Arabia
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Kim YI, An S, Yarin AL, Yoon SS. Performance Enhancement of Soft Nanotextured Thermopneumatic Actuator by Incorporating Silver Nanowires into Elastomer Body. Soft Robot 2020; 8:711-719. [PMID: 33121380 DOI: 10.1089/soro.2020.0044] [Citation(s) in RCA: 2] [Impact Index Per Article: 0.5] [Reference Citation Analysis] [Abstract] [Key Words] [Track Full Text] [Journal Information] [Subscribe] [Scholar Register] [Indexed: 01/19/2023] Open
Abstract
To improve performance of thermopneumatic soft actuators, which have recently been developed for various industrial applications, we embedded different nanoscale materials into their elastomer bodies. This yields a significant enhancement in the actuator performance via improving the mechanical and thermal properties of the elastomer bodies. In addition, the use of nanoinclusions diminished losses of the working fluid from the actuators by decreasing vapor leaks through the elastomer body and thus improving longevity. Notably, when using different working fluids with low boiling temperatures, the operating temperature range of the actuators can be lowered and widened. The hybrid approach proposed in this study is expected to advance the industrial feasibility of thermopneumatic actuators.
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Affiliation(s)
- Yong Il Kim
- School of Mechanical Engineering, Korea University, Seoul, Republic of Korea
| | - Seongpil An
- SKKU Advanced Institute of Nanotechnology (SAINT), Department of Nano Engineering, Sungkyunkwan University (SKKU), Suwon, Republic of Korea
| | - Alexander L Yarin
- Department of Mechanical and Industrial Engineering, University of Illinois at Chicago, Chicago, Illinois, USA
| | - Sam S Yoon
- School of Mechanical Engineering, Korea University, Seoul, Republic of Korea
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Abstract
Liquid-vapor phase change materials (PCMs), capable of significant volume change, are emerging as attractive actuating components in forming advanced soft composites for robotic applications. However, the novel and functional design of these PCM composites is significantly limited due to the lacking of the fundamental understanding of the mechanical properties, which further inhibits the broad applications of PCM based materials in the engineering structures requiring large deformation and high loading capacity. In this study we fabricate PCM-elastomer composites exhibiting large deformation and high output stress. Thermomechanical properties of these composites are experimentally and theoretically investigated, demonstrating enhanced deformation and loading capacity due to the induced vapor pressure. By controlling the distribution and content of the PCM inclusions, structures with tunable deformability under a relatively small strain in comparison with traditional soft materials are fabricated. Accompanying with the asymmetrical friction and deformation, complex locomotion and adaptable grabbing function are achieved with excellent performance.
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Affiliation(s)
- Xiying Li
- State Key Laboratory for Turbulence and Complex Systems, Department of Mechanics and Engineering Science, BIC-ESAT, College of Engineering, Peking University, Beijing, China
| | - Huiling Duan
- State Key Laboratory for Turbulence and Complex Systems, Department of Mechanics and Engineering Science, BIC-ESAT, College of Engineering, Peking University, Beijing, China.,CAPT, HEDPS and IFSA Collaborative Innovation Center of MoE, Peking University, Beijing, China
| | - Pengyu Lv
- State Key Laboratory for Turbulence and Complex Systems, Department of Mechanics and Engineering Science, BIC-ESAT, College of Engineering, Peking University, Beijing, China
| | - Xin Yi
- State Key Laboratory for Turbulence and Complex Systems, Department of Mechanics and Engineering Science, BIC-ESAT, College of Engineering, Peking University, Beijing, China
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An S, Joshi B, Yarin AL, Swihart MT, Yoon SS. Supersonic Cold Spraying for Energy and Environmental Applications: One-Step Scalable Coating Technology for Advanced Micro- and Nanotextured Materials. ADVANCED MATERIALS (DEERFIELD BEACH, FLA.) 2020; 32:e1905028. [PMID: 31747097 PMCID: PMC6980375 DOI: 10.1002/adma.201905028] [Citation(s) in RCA: 8] [Impact Index Per Article: 2.0] [Reference Citation Analysis] [Abstract] [Key Words] [Grants] [Track Full Text] [Subscribe] [Scholar Register] [Received: 08/04/2019] [Revised: 09/09/2019] [Indexed: 05/17/2023]
Abstract
Supersonic cold spraying is an emerging technique for rapid deposition of films of materials including micrometer-size and sub-micrometer metal particles, nanoscale ceramic particles, clays, polymers, hybrid materials composed of polymers and particulates, reduced graphene oxide (rGO), and metal-organic frameworks. In this method, particles are accelerated to a high velocity and then impact a substrate at near ambient temperature, where dissipation of their kinetic energy produces strong adhesion. Here, recent progress in fundamentals and applications of cold spraying is reviewed. High-velocity impact with the substrate results in significant deformation, which not only produces adhesion, but can change the particles' internal structure. Cold-sprayed coatings can also exhibit micro- and nanotextured morphologies not achievable by other means. Suspending micro- or nanoparticles in a liquid and cold-spraying the suspension produces fine atomization and even deposition of materials that could not otherwise be processed. The scalability and low cost of this method and its compatibility with roll-to-roll processing make it promising for many applications, including ultrathin flexible materials, solar cells, touch-screen panels, nanotextured surfaces for enhanced heat transfer, thermal and electrical insulation films, transparent conductive films, materials for energy storage (e.g., Li-ion battery electrodes), heaters, sensors, photoelectrodes for water splitting, water purification membranes, and self-cleaning films.
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Affiliation(s)
- Seongpil An
- Department of Mechanical and Industrial Engineering, University of Illinois at Chicago, Chicago, IL, 60607-7022, USA
| | - Bhavana Joshi
- Department of Physics, NES Science College, Snehnagar, Nanded, 431605, Maharashtra, India
| | - Alexander L Yarin
- Department of Mechanical and Industrial Engineering, University of Illinois at Chicago, Chicago, IL, 60607-7022, USA
| | - Mark T Swihart
- Department of Chemical and Biological Engineering and RENEW Institute, University at Buffalo, The State University of New York, Buffalo, NY, 14260-4200, USA
| | - Sam S Yoon
- School of Mechanical Engineering, Korea University, Seoul, 02841, Republic of Korea
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Kang DJ, An S, Yarin AL, Anand S. Programmable soft robotics based on nano-textured thermo-responsive actuators. NANOSCALE 2019; 11:2065-2070. [PMID: 30644933 PMCID: PMC6440209 DOI: 10.1039/c8nr08215d] [Citation(s) in RCA: 9] [Impact Index Per Article: 1.8] [Reference Citation Analysis] [Abstract] [Grants] [Track Full Text] [Subscribe] [Scholar Register] [Indexed: 06/09/2023]
Abstract
Soft robotic systems are increasingly emerging as robust alternatives to conventional robotics. Here, we demonstrate the development of programmable soft actuators based on volume expansion/retraction accompanying liquid-vapor phase transition of a phase-change material confined within an elastomer matrix. The combination of a soft matrix (a silicone-based elastomer) and an embedded ethanol-impregnated polyacrylonitrile nanofiber (PAN NF) mat makes it possible to form a sealed compound device that can be operated by changing the actuator temperature above/below the boiling point of ethanol. The thermo-responsive actuators based on this principle demonstrate excellent bending ability at a sufficiently high temperature (>90 °C) - comparable with compressed air-based soft actuators. The actuator using the mechanism presented here is easy to manufacture and automate and is recyclable. Finally, the actuation mechanism can be incorporated into a wide variety of shapes and configurations, making it possible to obtain tunable and programmable soft robots that could have a wide variety of industrial applications.
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Affiliation(s)
- Dong Jin Kang
- Department of Mechanical and Industrial Engineering, University of Illinois at Chicago, 842 W. Taylor St., Chicago, Illinois 60607-7022, USA.
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