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Review on Improvement,Modeling,and Application of Ionic Polymer Metal Composite artificial muscle

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Journal of Bionic Engineering 2022年第2期19卷 279-298页

作者： Qingsong He Guoxiao Yin David Vokoun Qi Shen Ji Lu Xiaofang Liu Xianrui Xu Min Yu Zhendong Dai Jiangsu Provincial Key Laboratory of Bionic Functional Materials Institute of Bio-Inspired Structure and Surface EngineeringCollege of Mechanical and Electrical EngineeringNanjing University of Aeronautics and AstronauticsNanjing 210016China Institute of Physics of the Academy of Sciences of the Czech Republic Prague 18221Czech Republic Active Materials and Smart Living Laboratory Department of Mechanical EngineeringUniversity of Nevada Las VegasLas Vegas 89154-4027USA

Recently,researchers have concentrated on studying ionic polymer metal composite(IPMC)artificial muscle,which has numerous advantages including a relatively large strain under low input voltage,flexibility,high response,low noise,light weight,and high driving energy density.This paper reports recent developments in IPMC artificial muscle,including improvement methods,modeling,and applications.Different types of IPMCs are described,along with various methods for overcoming some shortcomings,including improvement of Nafion matrix membranes,surface preparation of Nafion membranes,the choice of high-performing electrodes,and new electro-active polymers for enhancing the properties of IPMCs.IPMC models are also reviewed,providing theoretical guidance for studying the performance and applications of IPMCs.Successful applications such as bio-inspired robots,opto-mechatronic systems,and medical engineering are discussed.

关键词： Ionic polymer metal composite artificial muscle Improvement Model Bio-inspired application

Dielectric elastomer artificial muscle materials advancement and soft robotic applications

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SmartMat 2023年第4期4卷 178-198页

作者： Yuxuan Guo Qicong Qin Ziqing Han Roshan Plamthottam Mason Possinger Qibing Pei Department of Materials Science and Engineering University of CaliforniaLos AngelesCaliforniaUSA

Conventional robotic systems are built with rigid materials to deal with large forces and predetermined processes.Soft robotics,however,is an emerging field seeking to develop adaptable robots that can perform tasks in unpredictable environments and biocompatible devices that close the gap between humans and machines.Dielectric elastomers(DEs)have emerged as a soft actuation technology that imitates the properties and performance of natural muscles,making them an attractive material choice for soft robotics.However,conventional DE materials suffer from electromechanical instability(EMI),which reduces their performance and limits their applications in soft robotics.This review discusses key innovations in DE artificial muscles from a material standpoint,followed by a survey on their representative demonstrations of soft robotics.Specifically,we introduce modifications of DE materials that enable large strains,fast responses,and high energy densities by suppressing EMI.Additionally,we examine materials that allow variable stiffness and self‐healing abilities in DE actuators.Finally,we review dielectric elastomer actuator(DEA)applications in soft robotics in four categories,including automation,manipulation,locomotion,and human interaction.

关键词： artificial muscle carbon nanotube dielectric elastomer electroactive polymer soft robotics

A Hollow Polyethylene Fiber-Based artificial muscle

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Advanced Fiber Materials 2019年第3期1卷 214-221页

作者： Peng Gao Jiahui Li Qiuwei Shi Tianjin Institute of Power Sources Tianjin 300384People’s Republic of China School of Materials Science and Engineering Nanyang Technological UniversitySingapore 639798Singapore

Recently,researches on artificial muscles for imitating the functions of the natural muscles has attracted wide attention.The fiber-shape actuators,shape-memory materials or deforming devices,which are similar to human muscle fiber bundles,have extensively studied and provided more possibilities for artificial muscles.Herein,we develop a thermal responsible fiber-shaped actuator based on the low-cost hollow polyethylene fiber.The sheath-core structured fibrous actuators and the stainless-steel conductive yarn winded pre-stretched polyethylene actuators are fabricated with the heating assisted pre-stretching procedure.The actuation mechanism of the thermal-responsive orientation change of molecular chains driving the actuation is discussed and demonstrated by 2D XRD patterns.These polyethylene-based fibrous actuators displayed three significant advantages including(i)color-turning and shape-changing bifunctional response,(ii)direct joule heating actuation and(iii)effective contraction(18%shrinkage of the pristine length)and lifting ability(the ratio of lifting weight to self-weight is up to 50).

关键词： Sheath-core fiber actuator Polyethylene Color-turning artificial muscle

NONLINEAR MODELING AND CONTROLLING OF artificial muscle SYSTEM USING NEURAL NETWORKS

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Chinese Journal of Mechanical Engineering 2004年第2期17卷 306-310页

作者： Tian Sheping Ding Guoqing Yan Detian Lin Liangming Department of Information Measurement and Instrumentation,Shanghai Jiaotong University,Shanghai 200030, China Department of Information Measurement and Instrumentation Shanghai Jiaotong University 上海 200030

The pneumatic artificial muscles are widely used in the fields of medicalrobots, etc. Neural networks are applied to modeling and controlling of artificial muscle system. Asingle-joint artificial muscle test system is designed. The recursive prediction error (RPE)algorithm which yields faster convergence than back propagation (BP) algorithm is applied to trainthe neural networks. The realization of RPE algorithm is given. The difference of modeling ofartificial muscles using neural networks with different input nodes and different hidden layer nodesis discussed. On this basis the nonlinear control scheme using neural networks for artificialmuscle system has been introduced. The experimental results show that the nonlinear control schemeyields faster response and higher control accuracy than the traditional linear control scheme.

关键词： artificial muscle Neural networks Recursive prediction error algorithm Nonlinear modeling and controlling

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Re-engineering artificial muscle with microhydraulics

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Microsystems & Nanoengineering 2017年第1期3卷 278-285页

作者： Jakub Kedzierski Eric Holihan Rafmag Cabrera Isaac Weaver Massachusetts Institute of Technology Lincoln Laboratory LexingtonMA 02420USA

We introduce a new type of actuator,the microhydraulic stepping actuator(MSA),which borrows design and operational concepts from biological muscle and stepper motors.MSAs offer a unique combination of power,efficiency,and scalability not easily achievable on the microscale.The actuator works by integrating surface tension forces produced by electrowetting acting on scaled droplets along the length of a thin ribbon.Like muscle,MSAs have liquid and solid functional components and can displace a large fraction of their length.The 100μm pitch MSA presented here already has an output power density of over 200 W kg^(−1),rivaling the most powerful biological muscles,due to the scaling of surface tension forces,MSA’s power density grows quadratically as its dimensions are reduced.

关键词： artificial muscle electrowetting linear actuator microactuator microsystem microhydraulic stepping actuator

Morphology modulation of artificial muscles by thermodynamic-twist coupling

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National Science Review 2023年第1期10卷 17-27页

作者： Xiaoyu Hu Jiatian Li Sitong Li Guanghao Zhang Run Wang Zhongsheng Liu Mengmeng Chen Wenqian He Kaiqing Yu Wenzhong Zhai Weiqiang Zhao Abdul Qadeer Khan Shaoli Fang Ray H.Baughman Xiang Zhou Zunfeng Liu State Key Laboratory of Medicinal Chemical Biology College of Chemistry and College of Pharmacy Key Laboratory of Functional Polymer Materials Frontiers Science Center for New Organic MatterNankai University Alan G.Mac Diarmid Nano Tech Institute University of Texas at Dallas Department of Science China Pharmaceutical University

Human muscles can grow and change their length with body development;therefore,artificial muscles that modulate their morphology according to changing needs are needed.In this paper,we report a strategy to transform an artificial muscle into a new muscle with a different morphology by thermodynamic-twist coupling,and illustrate its structural evolution during actuation.The muscle length can be continuously modulated over a large temperature range,and actuation occurs by continuously changing the temperature.This strategy is applicable to different actuation modes,including tensile elongation,tensile contraction and torsional rotation.This is realized by twist insertion into a fibre to produce torsional stress.Fibre anne aling causes partial thermodynamic relaxation of the spiral molecular chains,which serves as internal tethering and inhibits fibre twist release,thus producing a self-supporting artificial muscle that actuates under heating.At a sufficiently high temperature,further relaxation of the spiral molecular chains occurs,resulting in a new mus cle with a different length.A structural study provides an understanding of the thermo dynamic-twist coupling.This work provides a new design strategy for intelligent materials.

关键词： artificial muscle actuator twist functional fibres bio-mimetic thermodynamic-twist coupling smart materials

Self-sensing actuators with programmable actuation performances for soft robots

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Science China(Technological Sciences) 2023年第11期66卷 3070-3079页

作者： JIAO ZhongDong YE ZhiQiu ZHU PingAn TANG Wei YANG HuaYong ZOU Jun State Key Laboratory of Fluid Power and Mechatronic Systems Zhejiang UniversityHangzhou 310058China

Designing soft robots that are able to perceive unstructured,dynamic environments and their deformations has been a long-term goal.Previously reported self-sensing soft actuators were mostly constructed via integrating separate actuators and sensors.The actuation performances and the sensing reliability are affected owing to the unmatched materials and weak connections.Realizing a seamless integration of soft actuators and sensors remains a grand challenge.Here,we report a fabrication strategy to endow soft actuators with sensing capability and programmable actuation performances.The foam inside the actuator functions as actuator and sensor simultaneously,effectively addressing the conformability and connection reliability issues that existed in current self-sensing actuators.The actuators are lightweight(a decrease of 58%in weight),powerful(lifting a load of 433 times of its own weight),and versatile(coupling twisting and contraction motions).Furthermore,the actuators are able to detect multiple physical stimuli with high reliability,demonstrating their exteroception and proprioception capability.Two self-sensing soft robotic prototypes,including a bionic bicep and a bionic neck,are constructed to illustrate their multifunctionality.Our study opens up new possibilities for the design of soft actuators and has promising potential in a variety of applications,ranging from human-robot interaction,soft orthotics,to wearable robotics.

关键词： soft robot twisting actuator self-sensing actuator artificial muscle soft actuator soft sensor

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High-performance carbon nanotube/polyaniline artificial yarn muscles working in biocompatible environments

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Nano Research 2023年第3期16卷 4143-4151页

作者： Jian Qiao Yulong Wu Chengfeng Zhu Lizhong Dong Kunjie Wu Yulian Wang Wei Yang Min Li Jiangtao Di Qingwen Li Key Laboratory of Multifunctional Nanomaterials and Smart Systems Advanced Materials DivisionSuzhou Institute of Nano-Tech and Nano-BionicsChinese Academy of SciencesSuzhou 215123China State Key Laboratory of Advanced Power Transmission Technology State Grid Smart Grid Research Institute Co.Ltd.Beijing 102209China School of Materials Science and Engineering Key Laboratory of Aerospace Materials and PerformanceMinistry of EducationBeihang UniversityBeijing 100191China

Implantable artificial muscles are of great importance for muscle function restoration and physical augmentation but are still challenging.Herein,we report an artificial muscle by soaking-polymerization of polyaniline(PANI)inside a carbon nanotube(CNT)yarn.Working in aqueous biocompatible solutions,the yarn muscle generates a large contractile stroke of 17%and high isometric stress of 8 MPa at voltages lower than 2 V.The excellent performance can be ascribed to the large actuation volume that is enabled by the fast electrochemical redox of PANI confined in a coiled yarn structure.The actuation performance outperforms that of previously reported aqueous artificial yarn muscles.Moreover,the yarn muscle can work well and maintain excellent actuating performance in other biocompatible solutions such as normal saline and Na2SO4 aqueous solution,which makes the CNT/PANI yarn muscles suitable for implantable bionic applications.Finally,a biomimetic arm was fabricated to demonstrate the applications of the CNT/PANI yarn artificial muscle in implantable muscle,underwater robots,and soft exoskeletons.

关键词： carbon nanotube polyaniline biocompatible implantable artificial muscle

Review on ultra-lightweight flapping-wing nano air vehicles:artificial muscles,flight control mechanism,and biomimetic wings

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Chinese Journal of Aeronautics 2023年第6期36卷 63-91页

作者： Liang WANG Bifeng SONG Zhongchao SUN Xiaojun YANG School of Aeronautics Northwestern Polytechnical UniversityXi'an 710072China Research&Development Institute of Northwestern Polytechnical University in Shenzhen Shenzhen 518057China Yangtze River Delta Research Institute Northwestern Polytechnical UniversityTaicang 215400China

Flying insects are capable of flapping their wings to provide the required power and control forces for flight.A coordinated organizational system including muscles,wings,and control architecture plays a significant role,which provides the sources of inspiration for designing flapping-wing vehicles.In recent years,due to the development of micro-and meso-scale manufacturing technologies,advances in components technologies have directly led to a progress of smaller Flapping-Wing Nano Air Vehicles(FWNAVs)around gram and sub-gram scales,and these air vehicles have gradually acquired insect-like locomotive strategies and capabilities.This paper will present a selective review of components technologies for ultra-lightweight flapping-wing nano air vehicles under 3 g,which covers the novel propulsion methods such as artificial muscles,flight control mechanisms,and the design paradigms of the insect-inspired wings,with a special focus on the development of the driving technologies based on artificial muscles and the progress of the biomimetic wings.The challenges involved in constructing such small flapping-wing air vehicles and recommendations for several possible future directions in terms of component technology enhancements and overall vehicle performance are also discussed in this paper.This review will provide the essential guidelines and the insights for designing a flapping-wing nano air vehicle with higher performance.

关键词： Actuators artificial muscle Biomimetic wings Flapping wing Flight control mechanism Nano Air Vehicles(NAVs)

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