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High-performance liquid metal electromagnetic actuator fabricated by femtosecond laser

International Journal of Extreme Manufacturing 2024年第2期6卷 511-521页

作者： Yiyu Chen Hao Wu Rui Li Shaojun Jiang Shuneng Zhou Zehang Cui Yuan Tao Xinyuan Zheng Qianqian Zhang Jiawen Li Guoqiang Li Dong Wu Jiaru Chu Yanlei Hu CAS Key Laboratory of Mechanical Behavior and Design of Materials Key Laboratory of Precision Scientific Instrumentation of Anhui Higher Education InstitutesDepartment of Precision Machinery and Precision InstrumentationUniversity of Science and Technology of ChinaHefei 230027People’s Republic of China Key Laboratory of Testing Technology for Manufacturing Process of Ministry of Education Southwest University of Science and TechnologyMianyang 621010People’s Republic of China Department of Mechanical Engineering The University of Hong KongHong Kong Special Administrative Region of ChinaPeople’s Republic of China

Small-scale electromagnetic soft actuators are characterized by a fast response and simplecontrol,holding prospects in the field of soft and miniaturized robotics.The use of liquid metal(LM)to replace a rigid conductor inside soft actuators can reduce the rigidity and enhance the actuation performance and robustness.Despite research efforts,challenges persist in the flexible fabrication of LM soft actuators and in the improvement of actuation performance.To address these challenges,we developed a fast and robust electromagnetic soft microplate actuator based on a laser-induced selective adhesion transfer method.Equipped with unprecedentedly thin LM circuit and customized low Young’s modulus silicone rubber(1.03 kPa),our actuator exhibits an excellent deformation angle(265.25?)and actuation bending angular velocity(284.66 rad·s^(-1)).Furthermore,multiple actuators have been combined to build an artificial gripper with a wide range of functionalities.Our actuator presents new possibilities for designing small-scaleartificial machines and supports advancements in ultrafast soft and miniaturized robotics.

关键词： soft actuators femtosecond laser liquid metal

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Liquid crystal elastomer composites for soft actuators

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International Journal of Smart and Nano Materials 2023年第4期14卷 440-459页

作者： Jianbo Sun Chao Wang Yongjiao Liu Xudong Liang Zhijan Wang Aerospace Research Institute of Materials&Processing Technology FengtaiBeijingChina School of Science Harbin Institute of TechnologyShenzhenChina Key Laboratory of Aerospace Advanced Materials and Performance Ministry of EducationSchool of Materials Science and EngineeringBeihang UniversityBeijingChina Tianmushan Laboratory HangzhouChina

Liquid crystal elastomers are active materials that combine the anisotropic properties of liquid crystals with the elasticity of polymer networks.The LCEs exhibit remarkable reversible contraction and elongation capabilities in response to external stimuli,rendering them highly promising for diverse applications,such as soft robotics,haptic devices,shape morphing structures,etc,However,the predominant reliance on heating as the driving stimulus for LCEs has limited their practical applications.This drawback can be effectively addressed by incorporating fllers,which can generate heat under various stimuli.The recent progress in LCE composites has significantly expanded the application potential of LCEs.In this minireview,we present the design strategies for soft actuators with LCE composites,followed by a detailed exploration of photothermal and electrothermal LCE.composites as prominent examples.Furthermore,we provide an outlook on the challenges and opportunities in the feld of LCE composites.

关键词： Liquid crystal elastomers soft actuators soft robots active composites

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Computer-controlled ultra high voltage amplifier for dielectric elastomer actuators

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Biomimetic Intelligence & Robotics 2024年第1期4卷 14-23页

作者： Ardi Wiranata Zebing Mao Yu Kuwajima Yuya Yamaguchi Muhammad Akhsin Muflikhun Hiroki Shigemune Naoki Hosoya Shingo Maeda Department of Mechanical and Industrial Engineering University of Gadjah MadaYogyakarta 55281Indonesia Department of Mechanical Engineering Tokyo Institute of TechnologyTokyo 152-8550Japan Department of Engineering and Science Shibaura Institute of TechnologyTokyo 135-8548Japan Department of Electrical Engineering Shibaura Institute of TechnologyTokyo 135-8548Japan Department of Engineering Science and Mechanics Shibaura Institute of TechnologyTokyo 135-8548Japan Living Systems Materialogy(LiSM)Research Group International Research Frontiers Initiative(IRFI)Tokyo Institute of TechnologyYokohama 226-8501Japan

soft robotics is a breakthrough technology to support human-robot interactions.The soft structure of a soft robot can increase safety during human and robot interactions.One of the promising soft actuators for soft robotics is dielectric elastomer actuators(DEAs).DEAs can operate silently and have an excellent energy density.The simple structure of DEAs leads to the easy fabrication of soft actuators.The simplicity combined with silent operation and high energy density make DEAs interesting for soft robotics researchers.DEAs actuation follows the Maxwell-pressure principle.The pressure produced in the DEAs actuation depends much on the voltage applied.Common DEAs requires high voltage to gain an actuation.Since the power consumption of DEAs is in the milli-Watt range,the current needed to operate the DEAs can be neglected.Several commercially available DC-DC converters can convert the volt range to the kV range.In order to get a voltage in the 2-3 kV range,the reliable DC-DC converter can be pricy for each device.This problem hinders the education of soft actuators,especially for a newcomer laboratory that works in soft electric actuators.This paper introduces an entirely do-it-yourself(DIY)Ultrahigh voltage amplifier(UHV-Amp)for education in soft robotics.UHV-Amp can amplify 12 V to at a maximum of 4 kV DC.As a demonstration,we used this UHV-Amp to test a single layer of powdered-based DEAs.The strategy to build this educational type UHV-Amp was utilizing a Cockcroft-Walton circuit structure to amplify the voltage range to the kV range.In its current state,the UHV-Amp has the potential to achieve approximately 4 kV.We created a simple platform to control the UHV-Amp from a personal computer.In near future,we expect this easy control of the UHV-Amp can contribute to the education of soft electric actuators.

关键词： Dielectric elastomer actuators Electric amplifier soft actuators soft robotics soft actuator education

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Laser-induced graphene for bioelectronics and soft actuators

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Nano Research 2021年第9期14卷 3033-3050页

作者： Yadong Xu Qihui Fei Margaret Page Ganggang Zhao Yun Ling Dick Chen Zheng Yan Department of Biomedical Biological&Chemical EngineeringUniversity of MissouriColumbiaMissouri 65211USA Department of Mechanical&Aerospace Engineering University of MissouriColumbiaMissouri 65211USA Rock Bridge High School ColumbiaMissouri 65203USA

Laser-assisted process can enable facile,mask-free,large-area,inexpensive,customizable,and miniaturized patterning of laser-induced porous graphene(LIG)on versatile carbonaceous substrates(e.g.,polymers,wood,food,textiles)in a programmed manner at ambient conditions.Together with high tailorability of its porosity,morphology,composition,and electrical conductivity,LIG can find wide applications in emerging bioelectronics(e.g.,biophysical and biochemical sensing)and soft robots(e.g.,soft actuators).In this review paper,we first introduce the methods to make LIG on various carbonaceous substrates and then discuss its electrical,mechanical,and antibacterial properties and biocompatibility that are critical for applications in bioelectronics and soft robots.Next,we overview the recent studies of LIG-based biophysical(e.g.,strain,pressure,temperature,hydration,humidity,electrophysiological)sensors and biochemical(e.g.,gases,electrolytes,metabolites,pathogens,nucleic acids,immunology)sensors.The applications of LIG in flexible energy generators and photodetectors are also introduced.In addition,LIG-enabled soft actuators that can respond to chemicals,electricity,and light stimulus are overviewed.Finally,we briefly discuss the future challenges and opportunities of LIG fabrications and applications.

关键词： laser-induced graphene bioelectronics biophysical sensors biochemical sensors soft actuators

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A Highly Adaptable Flexible soft Glove Consisting of Multimode Deformable soft Finger

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Journal of Bionic Engineering 2023年第4期20卷 1555-1568页

作者： Huadong Zheng Yan Cheng Xinjie Wang Caidong Wang Fengyang Liu Wei Bai Liangwen Wang School of Mechanical and Electrical Engineering Zhengzhou University of Light IndustryZhengzhou450002China School of Electrical and Information Engineering Zhengzhou University of Light IndustryZhengzhou450002China

This work presents a novel highly adaptable flexible soft glove composed of multimode deformable three-jointed soft fingers.The soft fingers are assembled by soft actuators and plastic materials that can be driven and controlled with single Degree of Freedom(DOF).A variety of different soft actuators are used as joint drive components to meet the motion requirements of fingers under different working conditions.We established a theoretical model to describe the deflection of the soft actuators based on reciprocal theorems.In addition,the finite-element method(FEM)was used to simulate the curvature change of the soft actuator and the soft finger,the soft actuators theoretical and simulation results were verified by experiments,and the multimode deformable soft fingers were simulated by FEM.Finally,a five-finger soft rehabilitation glove was prototyped and presented experimentally where the flexibility and functionality endowed by the soft fingers were demonstrated and highlighted.The versatility was also showcased in the applications.

关键词： soft actuators Bioinspired flexible glove soft fingers Finite-element methods Rehabilitation robotics

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Toward broad optimal output bandwidth dielectric elastomer actuators

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Science China(Technological Sciences) 2022年第5期65卷 1137-1148页

作者： CAO ChongJing CHEN LiJin LI Bo CHEN GuiMin NIE ZeDong WANG Lei GAO Xing Research Centre for Medical Robotics and Minimally Invasive Surgical Devices Shenzhen Institute of Advanced Technology(SIAT)Chinese Academy of SciencesShenzhen518055China Shaanxi Key Laboratory of Intelligent Robots School of Mechanical EngineeringXi’an Jiaotong UniversityXi’an710049China

Dielectric elastomer actuators(DEAs)are one of the most promising soft actuation technologies owing to their relatively high power density and electromechanical efficiency enabled by a resonant actuation technique.However,existing DEA designs suffer from a very narrow optimal output bandwidth close to resonance and poor output control capability due to their fixed geometrical configurations.This condition greatly limits their applications in programmable actuation and broad-bandwidth applications.Accordingly,this work developed a novel resonance tunable DEA(RTDEA)design for broad-optimal-output actuation bandwidths that is enabled by an integration of a stiffness and voltage control strategy.This design features a broad resonant frequency adjustment from 84 to 126 Hz and independent tunings of its resonant amplitude and frequency.Parametric studies were conducted to illustrate the fundamental principles behind the resonance tuning strategy,and optimization was performed to maximize the tuning capability.Here,a resonance tuning control strategy is proposed to achieve accurate adjustments of the RTDEA’s resonance based on the stiffness and voltage control strategy.These resonance tunable soft actuators are envisioned to greatly expand DEAs’applications in,for instance,soft robotic locomotion,human–robot communication,and active vibrational control with demands of broad actuation bandwidths and high output performance.

关键词： dielectric elastomer actuators soft robotics soft actuators resonance tuning resonant actuation

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Electrically Driven Crosslinked Liquid Crystal Polymers

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Chinese Journal of Chemistry 2023年第21期41卷 2925-2938页

作者： Meng Wang Chuan-Fei Jiang Hong Yang School of Chemistry and Chemical Engineering State Key Laboratory of Digital Medical EngineeringSoutheast UniversityNanjingJiangsu211189 China

Crosslinked liquid crystal polymers(CLCPs)are smart materials that combine the anisotropy of liquid crystals(LCs)with the elasticity of rubber.When subjected to external stimuli,they exhibit exceptional two-way shape memory behavior.Among the various stimuli,electrical energy has the advantages of cleanliness,stability,and high controllability;hence,it is widely used for controlling CLCP-based soft actuators,thus presenting potential for application in diverse,complex scenarios.By combining electrically driven mode and sensor equipment,precise control of CLCPs can be achieved,and the electrically driven CLCPs can accomplish more intricate and sophisticated tasks.This study presents a comprehensive review of electrically driven CLCPs with various driving mechanisms,including the electroclinic effect of ferroelectric CLCPs,the reorganization of LC molecules,the Maxwell effect of dielectric CLCPs,and the Joule heating effect of electrothermally responsive CLCP systems.In addition,a detailed analysis of the applications of electrically driven CLCPs in various research fields is presented.Finally,the current challenges in the field of electrically driven CLCP technology are summarized,along with predictions for future prospects.

关键词： Liquid crystal polymers Stimuli-responsive polymers Electrothermal materials Energy conversion soft actuators

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Large-Size Honeycomb-Shaped and Iris-Like Liquid Crystal Elastomer actuators

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CCS Chemistry 2022年第3期4卷 847-854页

作者： Bin Ni Gaoyu Liu Mengxue Zhang Patrick Keller Michael Tatoulian Min-Hui Li Chimie ParisTech UniversitéParis Sciences&LettresCNRSInstitut de Recherche de Chimie ParisUMR824775005 Paris Institut Curie UniversitéParis Sciences&LettresCNRSSorbonne UniversitéLaboratoire Physico-Chimie CurieUMR16875005 Paris

Nature is providing inspiration for researchers to mimic its functions or existing structures,which could remarkably promote the development of new materials.Here,a large-size honeycomb-shaped liquid crystal elastomer(LCE)actuator with LC orientation along the height of the honeycomb shape is built by combining magnetic field alignment and soft lithography technology.This homeotropic alignment allowed the height contraction of honeycomb and pore size expansion of hexagons in a reversible manner upon temperature variation.Therefore,this LCE actuator can be used as a structure for temperature-gated separation of particles.Another example is an iris-like LCE actuator,which has the capability of adjusting its aperture size with a temperature variation.Our approach provides a simple way to design customizable sophisticated LCE actuators for various potential applications.

关键词： liquid crystal elastomers soft actuators biomimetic systems

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鞭毛/纤毛内在驱动机制启发的一体式管状机器人驱动器

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Engineering 2023年第4期23卷 170-180,M0008页

作者：苗佳麒张铁山李根郭栋孙思琦谭蓉史家海申亚京 Shenzhen Research Institute of City University of Hong Kong Shenzhen 515100China Department of Biomedical Engineering City University of Hong KongHong Kong 999077China Department of Electronic and Computer Engineering Hong Kong University of Science and TechnologyHong Kong 999077China Cheng Kar-Shun Robotics Institute(CKSRI) Hong Kong University of Science and TechnologyHong Kong 999077China Synthetic Biology Translational Research Programmes Yong Loo Lin School of MedicineNational University of SingaporeSingapore 119077Singapore Department of Biochemistry Yong Loo Lin School of MedicineNational University of SingaporeSingapore 119077Singapore

鞭毛和纤毛独特的运动模式(如鞭毛的平面/螺旋波形式推进和纤毛的二维/三维不对称搏动)在众多生物的生命活动中起到至关重要的作用,这也启发了诸多仿生设计,尤其对于微型机器人系统。然而,与自然界中微生物能够从统一化的9+2轴丝生物结... 详细信息

鞭毛和纤毛独特的运动模式(如鞭毛的平面/螺旋波形式推进和纤毛的二维/三维不对称搏动)在众多生物的生命活动中起到至关重要的作用,这也启发了诸多仿生设计,尤其对于微型机器人系统。然而,与自然界中微生物能够从统一化的9+2轴丝生物结构中进化出多种运动模式不同的是,当前的仿生学仍然没有有效的工程策略去实现这样的智慧。在此,我们通过研究鞭毛和纤毛的内部结构及其内在驱动机制,推导出了一个统一的物理模型来描述微管弯曲及其所构建的宏观鞭毛/纤毛运动。基于该模型,我们进而提出了基于三通道的管状驱动概念,并相应地通过杆嵌入铸造工艺制造了一个三通道的管状驱动器。通过编程不同通道的驱动模式,这一管状驱动器不仅可以再现自然界中多样的二维及三维鞭毛/纤毛运动,还可以延展出更多的非对称纤毛搏动模式以实现低雷诺数下的有效推进。该研究加深了我们对微生物推进机制的理解,为仿生系统的设计提供了新灵感,并有望在广泛的工程领域中寻找到重要的应用场景。

关键词： Biomimetic systems soft actuators 9+2 structure Artificial cilia Low Reynolds number

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