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Bioinspired Multifunctional self-sensing Actuated Gradient Hydrogel for Soft-Hard Robot Remote Interaction

Nano-Micro Letters 2024年第4期16卷 139-152页

作者： He Liu Haoxiang Chu Hailiang Yuan Deliang Li Weisi Deng Zhiwei Fu Ruonan Liu Yiying Liu Yixuan Han Yanpeng Wang Yue Zhao Xiaoyu Cui Ye Tian College of Medicine and Biological Information Engineering Northeastern UniversityShenyang 110169People’s Republic of China Foshan Graduate School of Innovation Northeastern UniversityFoshan 528300People’s Republic of China

The development of bioinspired gradient hydrogels with self-sensing actuated capabilities for remote interaction with soft-hard robots remains a challenging endeavor. Here, we propose a novel multifunctional self-sensing actuated gradient hydrogel that combines ultrafast actuation and high sensitivity for remote interaction with robotic hand. The gradient network structure, achieved through a wettability difference method involving the rapid precipitation of MoO_(2) nanosheets, introduces hydrophilic disparities between two sides within hydrogel. This distinctive approach bestows the hydrogel with ultrafast thermo-responsive actuation(21° s^(-1)) and enhanced photothermal efficiency(increase by 3.7 ℃ s^(-1) under 808 nm near-infrared). Moreover, the local cross-linking of sodium alginate with Ca^(2+) endows the hydrogel with programmable deformability and information display capabilities. Additionally, the hydrogel exhibits high sensitivity(gauge factor 3.94 within a wide strain range of 600%), fast response times(140 ms) and good cycling stability. Leveraging these exceptional properties, we incorporate the hydrogel into various soft actuators, including soft gripper, artificial iris, and bioinspired jellyfish, as well as wearable electronics capable of precise human motion and physiological signal detection. Furthermore, through the synergistic combination of remarkable actuation and sensitivity, we realize a self-sensing touch bioinspired tongue. Notably, by employing quantitative analysis of actuation-sensing, we realize remote interaction between soft-hard robot via the Internet of Things. The multifunctional self-sensing actuated gradient hydrogel presented in this study provides a new insight for advanced somatosensory materials, self-feedback intelligent soft robots and human–machine interactions.

关键词： self-sensing Gradient structure Bioinspired actuator Hydrogel sensor Remote interaction

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self-powered and self-sensing devices based on piezoelectric energy harvesting

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Science China Technological Sciences 2024年第6期67卷 1631-1667页

作者： CHEN GanTong ZHU Yue HUANG DongMei ZHOU ShengXi School of Aeronautics Northwestern Polytechnical University School of Mathematics and Statistics Xidian University

Wearable devices, interactive human-machine interface equipment, wireless sensors, and small-scale cleaning devices play crucial roles in biomedical implantation, disease treatment, health monitoring, environmental purification, etc. These devices require a sustainable energy source to work effectively. With the consideration of the global energy crisis and environmental pollution, researchers are exploring new, stable, and environmentally friendly methods to power these low-powered devices.Mechanical energy is one of the most abundant natural energy sources. Converting mechanical energy from the ambient environment or host structures into electrical energy via the direct piezoelectric effect is an efficient energy harvesting technique.This paper reviews the application of advanced piezoelectric materials, and small-scale self-powered and self-sensing piezoelectric devices at the cubic centimeter scale in energy harvesting and health monitoring of human, animal, machinery, roads,bridges, as well as the pollutant degradation of the environment. Some of these devices have the capability to not only harvest mechanical energy but also enable real-time monitoring and analysis of the electrical signals generated by the direct piezoelectric effect, facilitating prompt decision-making and appropriate responses. In addition, potential challenges and future prospects of small-scale self-powered and self-sensing piezoelectric devices are discussed.

关键词： piezoelectric energy harvesting self-powered self-sensing wearable devices implantable devices

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Investigation of mechanical and electrical characteristics of selfsensing pneumatic torsional actuators

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Science China(Technological Sciences) 2024年第1期67卷 130-142页

作者： XIAO Wei HU DeAn HU GuoLiang XIAO YiHua Key Laboratory of Conveyance and Equipment Ministry of EducationEast China Jiaotong UniversityNanchang 330013China Key Laboratory of Advanced Design and Simulation Techniques for Special Equipment Ministry of EducationHunan UniversityChangsha 410082China

Soft pneumatic actuators are one of the most promising actuation for soft robots,and great achievements have been obtained.But it remains challenging to endow sensing capabilities to pneumatic actuators,especially for the sensing ability originating directly from the actuator architecture.Herein,a self-sensing pneumatic torsional actuator(SPTA)is designed based on the electromagnetic induction effect and magnetically responsive materials.The SPTA can generate feedback voltage and current with the deformation,in which the sensing function comes from its inherent structure.To investigate the mechanical and electrical characteristics,an experimental platform and a finite element model are established,respectively.We find that the torsion angle and output torque increase in nonlinear with the actuating pressure.The maximum torsion angle is 66.35°,which is 84.34%of that for the actuator fabricated by pure rubber.The maximum output torque(24.9 N mm)improves by 23.19%compared with the actuator made by pure rubber.As regards the electrical characteristics,the maximum feedback voltage and current are 2.90μV and 29.50 nA when the SPTA is actuated by a pressure of−40 kPa.We also demonstrate that the relationship between the torsion angle and the magnetic flux change is approximately linear.Finally,the number of turns of wires,magnetic powders contents,and magnetic direction on the feedback voltage and current are studied.Results show that the feedback voltage and current can be enhanced by increasing the number of turns and magnetic powders contents.We envision that the SPTA would be promising for soft robots to realize their accuracy control and intelligentization.

关键词： pneumatic torsional actuators self-sensing feedback voltage finite element modeling soft robots

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Detection of avian influenza virus H9N_(2) based on self-driving and self-sensing microcantilever piezoelectric sensor

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Chinese Chemical Letters 2023年第4期34卷 464-468页

作者： Yawen Zhang Feng Shi Chenguang Zhang Xin Sheng Yunhao Zhong Hui Chong Zhanjun Yang Chengyin Wang College of Chemistry and Chemical Engineering Yangzhou UniversityYangzhou 225002China

In this article, we used the self-excitation and self-inductance characteristics of polyvinylidene fluoride(PVDF) piezoelectric materials, combined with the powerful signal processing and calculation analysis capabilities of integrated circuits, for the first time to explore a set of microcantilever sensor "readout system" without additional driver(self-driving) and can realize self-sensing external signal(self-sensing).It was successfully applied to the unlabeled detection of avian influenza virus(AIV) H9N_(2). The specific force of the antigen-antibody complexes on the surface of the microcantilever leads to the change of the stress of the cantilever, which drives the constructed detection device, and does not require an additional excitation source to drive it, that is, the self-driving part. At the same time, due to the movement of piezoelectric charges in the film caused by the positive piezoelectric effect of the PVDF film, self-inductive charges are generated on the surface of the sensor dielectric. The charge signal is converted into a voltage signal, and the sensing part is completed, that is, self-sensing. The immunosensor has a linear range of100-1000 ng/m L with a detection limit of 2.9 ng/m L. The method will also open up a new avenue for the detection of other analytes based on antigen-antibody responses.

关键词： Micro cantilever sensor self-driving self-sensing Piezoelectric material Avian influenza virus H9N_(2)

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self-sensing active magnetic bearing using real-time duty cycle

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Journal of Zhejiang University-Science C(Computers and Electronics) 2013年第8期14卷 600-611页

作者： Ming TANG Chang-sheng ZHU Jie YU State Grid Sichuan Electric Power Research Institute College of Electrical Engineering Zhejiang University

In a self-sensing active magnetic bearing (AMB) system driven by pulse width modulation (PWM) switching power amplifiers, the rotor position information can be extracted from coil current and voltage signals by a specific signal demodulation process. In this study, to reduce the complexity of hardware, the coil voltage signal was not filtered but measured in the form of a duty cycle by the eCAP port of DSP (TMS320F28335). A mathematical model was established to provide the relationship between rotor position, current ripple, and duty cycle. Theoretical analysis of the amplitude-frequency characteristic of the coil current at the switching frequency was presented using Fourier series, Jacobi-Anger identity, and Bessel function. Experimental results showed that the time-varying duty cycle causes infinite side frequencies around the switching frequency. The side frequency interval depends on the varying frequency of the duty cycle. Rotor position can be calculated by measuring the duty cycle and demodulating the coil current ripple. With this self-sensing strategy, the rotor system supported by AMBs can steadily rotate at a speed of 3000 r/min.

关键词： self-sensing Active magnetic bearing (AMB) Frequency spectrum characteristic

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DYNAMIC CHARACTERISTICS OF A CANTILEVER BEAM WITH PARTIAL self-sensing ACTIVE CONSTRAINED LAYER DAMPING TREATMENT

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Acta Mechanica Solida Sinica 1999年第4期12卷 316-327页

作者： Gao, JX Shen, YP Xian Jiao Tong Univ Civil Coll Xian 710049 Peoples R China

The equations of motion governing the vibration of a cantilever beam with partially treated self-sensing active constrained layer damping treatment(SACLD) are derived by application of the extended Hamilton principle. The assumed-modes method and closed loop velocity feedback control law are used to analyze and control the flexural vibration of the beam nle influences of the bonding layer and piezoelectric layer thickness, material properties, placements of the Diezoelectric patch and feedback control parameters on the actuation ability of the vibration suppression are investigated. Some design considerations for pure passive, pure active control, and self-sensing active constrained layer damping are discussed.

关键词： self-sensing active constrained layer damping treatment dynamic characteristics and designs

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self-sensing Curved Micro-Strip Line Method for Damage Detection of CFRP Composites

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Open Journal of Composite Materials 2014年第3期4卷 131-139页

作者： Akira Todoroki Kazuhiro Yamada Yoshihiro Mizutani Yoshiro Suzuki Ryosuke Matsuzaki Hiroyasu Fujita Aerospace Company Fuji Heavy Industry Tochigi Japan Department of Mechanical Engineering Tokyo University of Science Chiba Japan Department of Mechanical Sciences of Engineering Tokyo Institute of Technology Tokyo Japan Tokyo Institute of Technology Tokyo Japan

A self-sensing Time Domain Reflectometry (TDR) method for Carbon Fibre Reinforced Polymer (CFRP) laminates has been propped in the present study: carbon fibres are used as sensors using a transmission line. Authors have published research articles of the self-sensing TDR method. The self-sensing TDR method reduces number of required electrodes for damage detections although the sensitivity of detection is sacrificed. A micro-strip line (MSL) method is adopted to obtain impedance matching with a coaxial cable and successfully detected damage in a CFRP laminate in the previous study. In the present study, a long curved MSL is experimentally investigated as an impedance-matched transmission line for detection of damage of a CFRP laminate in wider area. Fibre breakage is simulated as a hole made by drilling. As a CFRP laminate has strongly orthotropic electric conductance and the electric properties of a CFRP laminate at the high frequency are not clarified, the effect of the orthotropic conductance at the curved transmission line is experimentally investigated. As a result, the effect of orthotropic conductance at the curved strip line is shown to be negligible, and fiber breakage that locates closed to the copper strip line can be detected by the self-sensing curved MSL method. It is, however, difficult to detect damage far from the copper strip line.

关键词： Carbon Fibre Composite Laminates Electric Resistance Fiber Breakage Time Domain Reflectometry self-sensing

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self-sensing TDR for Bearing Failure Detection of CFRP Laminate Fastener Hole with Particular Reference to the Effect of Fasteners

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Open Journal of Composite Materials 2015年第3期5卷 60-69页

作者： Akira Todoroki Keisuke Ohara Yoshihiro Mizutani Yoshiro Suzuki Ryosuke Matsuzaki Department of Mechanical Sciences of Engineering Tokyo Institute of Technology Tokyo Japan Tokyo Institute of Technology Tokyo Japan Department of Mechanical Engineering Tokyo University of Science Chiba Japan

Carbon fiber reinforced polymer composites (CFRP) have been applied to aerospace and automobile structures. For many CFRP structures, mechanical metallic fasteners are usually adopted. For the fasteners used in internal structures such as a wing box, the damage to the CFRP structures around fastener holes is visually quite difficult to find. A simple method to find the damage around fastener holes is required. In this study a self-sensing time domain reflectometry (TDR) method is newly applied to detect bearing failure around the fastener holes of CFRP structures. A microstrip-line method is generally used to create a transmission line. When the transmission line is mounted near the metallic fasteners, they may affect the impedance of the transmission line. In this study, the effect of distance between the fasteners and the transmission line was numerically investigated using a finite difference time domain analysis method. After finding the appropriate distance, experiments were performed to detect the bearing failure around a fastener hole. The experiments showed the performance of the self-sensing TDR for detecting bearing failure.

关键词： Composites Time Domain Reflectometry self-sensing Bearing Failure Fasteners Monitoring

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A fuzzy PID-controlled SMA actuator for a two-DOF joint

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Chinese Journal of Aeronautics 2014年第2期27卷 453-460页

作者： Shi Zhenyun Wang Tianmiao Liu Da Ma Chen Yuan Xiangnan Robotic Laboratory Beihang University

Shape memory alloy （SMA） actuator is a potential advanced component for servo- systems of aerospace vehicles and aircraft. This paper presents a joint with two degrees of freedom （DOF） and a mobility range close to ±60° when driven by SMA triple wires. The fuzzy proportional-integral-derivative （PID）-controlled actuator drive was designed using antagonistic SMA triple wires, and the resistance feedback signal made a closed loop. Experiments showed that, with the driving responding frequency increasing, the overstress became harder to be avoided at the position under the maximum friction force. Furthermore, the hysteresis gap between the heating and cooling paths of the strain-to-resistance curve expanded under this condition. A fuzzy logic control was considered as a solution, and the curves of the wires were then modeled by fitting polynomials so that the measured resistance was used directly to determine the control signal. Accurate control was demonstrated through the step response, and the experimental results showed that under the fuzzy PID-control program, the mean absolute error （MAE） of the rotation angle was about 3.147°. In addition, the investigation of the external interference to the system proved the controllable maximum output.

关键词： Fuzzy PID control Mechanical Joint self-sensing Shape memory alloySmart structure

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Improved Synchronized Switch Damping on Negative Capacitances for Semi-active Vibration Control

Improved Synchronized Switch Damping on Negative Capacitance...

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第37届中国控制会议

作者： Libo Wang Wei Tang Yumei Ren Jiawei Gu Yu Wang Yunfeng Gu School of Automation Northwestern Polytechnical University

Recently,the so called synchronized switch damping on negative capacitance（SSDNC） has been intensively investigated and discussed.However,the original SSDNC heavily relies on the external sensors and controllers to operate the switches.Moreover,its damping performance is limited by the potential instability.In order to overcome these drawbacks,this paper proposes an improved synchronized switch damping technique on two negative capacitances.The new technique not only enhances the attenuation performance,but also keeps robustness of the shunt circuit at the same time.It requires neither external sensors nor controllers because of the self-sensing feature.Finally,the experiments are carried out to validate the damping performance of the proposed SS-SSDHNC technique.

关键词： self-sensing SSDNC semi-active control piezoelectric

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