Relevant bibliographies by topics / Soft actuation technologies

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  1. Journal articles
  2. Book chapters
  3. Conference papers

Academic literature on the topic 'Soft actuation technologies'

Author: Grafiati
Published: 4 June 2025
Last updated: 23 June 2025

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Journal articles on the topic "Soft actuation technologies"

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Zaidi, Shadab, Martina Maselli, Cecilia Laschi, and Matteo Cianchetti. "Actuation Technologies for Soft Robot Grippers and Manipulators: A Review." Current Robotics Reports 2, no. 3 (2021): 355–69. http://dx.doi.org/10.1007/s43154-021-00054-5.

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Abstract Purpose of Review The new paradigm of soft robotics has been widely developed in the international robotics community. These robots being soft can be used in applications where delicate yet effective interaction is necessary. Soft grippers and manipulators are important, and their actuation is a fundamental area of study. The main purpose of this work is to provide readers with fast references to actuation technologies for soft robotic grippers in relation to their intended application. Recent Findings The authors have surveyed recent findings on actuation technologies for soft grippers. They presented six major kinds of technologies which are either used independently for actuation or in combination, e.g., pneumatic actuation combined with electro-adhesion, for certain applications. Summary A review on the latest actuation technologies for soft grippers and manipulators is presented. Readers will get a guide on the various methods of technology utilization based on the application.
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Khuyen, Nguyen Quang, Rudolf Kiefer, Fred Elhi, Gholamreza Anbarjafari, Jose G. Martinez, and Tarmo Tamm. "A Biomimetic Approach to Increasing Soft Actuator Performance by Friction Reduction." Polymers 12, no. 5 (2020): 1120. http://dx.doi.org/10.3390/polym12051120.

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While increasing power output is the most straight-forward solution for faster and stronger motion in technology, sports, or elsewhere, efficiency is what separates the best from the rest. In nature, where the possibilities of power increase are limited, efficiency of motion is particularly important; the same principle can be applied to the emerging biomimetic and bio-interacting technologies. In this work, by applying hints from nature, we consider possible approaches of increasing the efficiency of motion through liquid medium of bilayer ionic electroactive polymer actuations, focusing on the reduction of friction by means of surface tension and hydrophobicity. Conducting polyethylene terephthalate (PET) bilayers were chosen as the model actuator system. The actuation medium consisted of aqueous solutions containing tetramethylammonium chloride and sodium dodecylbenzenesulfonate in different ratios. The roles of ion concentrations and the surface tension are discussed. Hydrophobicity of the PET support layer was further tuned by adding a spin-coated silicone layer to it. As expected, both approaches increased the displacement—the best results having been obtained by combining both, nearly doubling the bending displacement. The simple approaches for greatly increasing actuation motion efficiency can be used in any actuator system operating in a liquid medium.
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Xiang, Chaoqun, Jianglong Guo, Rujie Sun, et al. "Electroactive Textile Actuators for Breathability Control and Thermal Regulation Devices." Polymers 11, no. 7 (2019): 1199. http://dx.doi.org/10.3390/polym11071199.

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Smart fabrics offer the potential for a new generation of soft robotics and wearable technologies through the fusion of smart materials, textiles and electrical circuitries. Conductive and stretchable textiles have inherent compliance and low resistance that are suitable for driving artificial muscle actuators and are potentially safer electrode materials for soft actuation technologies. We demonstrate how soft electroactive actuating structures can be designed and fabricated from conducting textiles. We first quantitatively analyse a range of stretchable conductive textiles for dielectric elastomer actuators (DEAs). We found that conductive-knit textiles are more suitable for unidirectional DEA applications due to the largest difference (150%) in principle strain axes, whereas isotropic textiles are more suited to bidirectional DEA applications due to the smallest (11.1%) principle strain difference. Finally, we demonstrate controllable breathability through a planar e-textile DEA-driven skin and show thermal regulation in a wearable prototype that exploits soft actuation and kirigami.
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Higueras-Ruiz, Diego R., Kiisa Nishikawa, Heidi Feigenbaum, and Michael Shafer. "What is an artificial muscle? A comparison of soft actuators to biological muscles." Bioinspiration & Biomimetics 17, no. 1 (2021): 011001. http://dx.doi.org/10.1088/1748-3190/ac3adf.

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Abstract Interest in emulating the properties of biological muscles that allow for fast adaptability and control in unstructured environments has motivated researchers to develop new soft actuators, often referred to as ‘artificial muscles’. The field of soft robotics is evolving rapidly as new soft actuator designs are published every year. In parallel, recent studies have also provided new insights for understanding biological muscles as ‘active’ materials whose tunable properties allow them to adapt rapidly to external perturbations. This work presents a comparative study of biological muscles and soft actuators, focusing on those properties that make biological muscles highly adaptable systems. In doing so, we briefly review the latest soft actuation technologies, their actuation mechanisms, and advantages and disadvantages from an operational perspective. Next, we review the latest advances in understanding biological muscles. This presents insight into muscle architecture, the actuation mechanism, and modeling, but more importantly, it provides an understanding of the properties that contribute to adaptability and control. Finally, we conduct a comparative study of biological muscles and soft actuators. Here, we present the accomplishments of each soft actuation technology, the remaining challenges, and future directions. Additionally, this comparative study contributes to providing further insight on soft robotic terms, such as biomimetic actuators, artificial muscles, and conceptualizing a higher level of performance actuator named artificial supermuscle. In conclusion, while soft actuators often have performance metrics such as specific power, efficiency, response time, and others similar to those in muscles, significant challenges remain when finding suitable substitutes for biological muscles, in terms of other factors such as control strategies, onboard energy integration, and thermoregulation.
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Cai, Guofa, Jing-Hao Ciou, Yizhi Liu, Yi Jiang, and Pooi See Lee. "Leaf-inspired multiresponsive MXene-based actuator for programmable smart devices." Science Advances 5, no. 7 (2019): eaaw7956. http://dx.doi.org/10.1126/sciadv.aaw7956.

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Natural leaves, with elaborate architectures and functional components, harvest and convert solar energy into chemical fuels that can be converted into energy based on photosynthesis. The energy produced leads to work done that inspired many autonomous systems such as light-triggered motion. On the basis of this nature-inspired phenomenon, we report an unprecedented bilayer-structured actuator based on MXene (Ti3C2Tx)–cellulose composites (MXCC) and polycarbonate membrane, which mimic not only the sophisticated leaf structure but also the energy-harvesting and conversion capabilities. The bilayer actuator features multiresponsiveness, low-power actuation, fast actuation speed, large-shape deformation, programmable adaptability, robust stability, and low-cost facile fabrication, which are highly desirable for modern soft actuator systems. We believe that these adaptive soft systems are attractive in a wide range of revolutionary technologies such as soft robots, smart switch, information encryption, infrared dynamic display, camouflage, and temperature regulation, as well as human-machine interface such as haptics.
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Li, Weidong, Diangang Hu, and Lei Yang. "Actuation Mechanisms and Applications for Soft Robots: A Comprehensive Review." Applied Sciences 13, no. 16 (2023): 9255. http://dx.doi.org/10.3390/app13169255.

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Soft robots, which exhibit distinguishing features in terms of compliance, adaptability, and safety, have been expansively adopted in various niche applications. For soft robots, innovative actuators have been designed based on smart materials enabling the robots to perform flexible and versatile functions, whereas extra spaces and accessories to accommodate motors and power devices have been eliminated to achieve structural optimisation. Herein, different types of actuation mechanisms for soft robots are summarised to reflect the state-of-the-art research and applications. Major characteristics of the actuation mechanisms are updated. Design methodologies of the actuation mechanisms are discussed in detail. Furthermore, their advantages, disadvantages, and application potential are compared and summarised. In the end, based on our knowledge and understanding, new thoughts and recommendations to further develop the actuation mechanisms are put forward. This review is useful to support the conclusion that, through incorporating actuation mechanisms and advanced intelligent technologies, soft robots tend to create disruptive innovations in applications.
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Terrile, Silvia, Miguel Argüelles, and Antonio Barrientos. "Comparison of Different Technologies for Soft Robotics Grippers." Sensors 21, no. 9 (2021): 3253. http://dx.doi.org/10.3390/s21093253.

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Soft grippers have experienced a growing interest due to their considerable flexibility that allows them to grasp a variety of objects, in contrast to hard grippers, which are designed for a specific item. One of their most remarkable characteristics is the ability to manipulate soft objects without damaging them. This, together with their wide range of applications and the use of novels materials and technologies, renders them a very robust device. In this paper, we present a comparison of different technologies for soft robotics grippers. We fabricated and tested four grippers. Two use pneumatic actuation (the gripper with chambered fingers and the jamming gripper), while the other two employ electromechanical actuation (the tendon driver gripper and the gripper with passive structure). For the experiments, a group of twelve objects with different mechanical and geometrical properties have been selected. Furthermore, we analyzed the effect of the environmental conditions on the grippers, by testing each object in three different environments: normal, humid, and dusty. The aim of this comparative study is to show the different performances of different grippers tested under the same conditions. Our findings indicate that we can highlight that the mechanical gripper with a passive structure shows greater robustness.
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Shimizu, Keita, Toshiaki Nagai, and Jun Shintake. "Dielectric Elastomer Fiber Actuators with Aqueous Electrode." Polymers 13, no. 24 (2021): 4310. http://dx.doi.org/10.3390/polym13244310.

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Dielectric elastomer actuators (DEAs) are one of the promising actuation technologies for soft robotics. This study proposes a fiber-shaped DEA, namely dielectric elastomer fiber actuators (DEFAs). The actuator consisted of a silicone tube filled with the aqueous electrode (sodium chloride solution). Furthermore, it could generate linear and bending actuation in a water environment, which acts as the ground side electrode. Linear-type DEFA and bending-type DEFA were fabricated and characterized to prove the concept. A mixture of Ecoflex 00–30 (Smooth-On) and Sylgard 184 (Dow Corning) was employed in these actuators for the tube part, which was 75.0-mm long with outer and inner diameters of 6.0 mm and 5.0 mm, respectively. An analytical model was constructed to design and predict the behavior of the devices. In the experiments, the linear-type DEFA exhibited an actuation strain and force of 1.3% and 42.4 mN, respectively, at 10 kV (~20 V/µm) with a response time of 0.2 s. The bending-type DEFA exhibited an actuation angle of 8.1° at 10 kV (~20 V/µm). Subsequently, a jellyfish-type robot was developed and tested, which showed the swimming speed of 3.1 mm/s at 10 kV and the driving frequency of 4 Hz. The results obtained in this study show the successful implementation of the actuator concept and demonstrate its applicability for soft robotics.
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Guo, Zhiqin. "A review of upper-limb soft exosuit." Theoretical and Natural Science 13, no. 1 (2023): 51–58. http://dx.doi.org/10.54254/2753-8818/13/20240778.

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A rigid exoskeleton has been developed for decades, and its feasibility has been proven in many areas, such as rehabilitation. Unlike the rigid exoskeleton, the soft exosuit provides a new insight for wearable robotics development and has drawn much attention as the external muscles instead of exoskeletons, especially for supporting users activities of daily living (ADL) and human body augmentation. This paper reviews the upper-limb soft exosuit studies in the last three years, including the core technologies and the current challenges that need to be addressed. Then, the actuator designs were described, including motor-tendon unit, pneumatic artificial muscle, hydraulic artificial muscle, and textile-based actuation. Their advantages and disadvantages were given and the applications were listed. Also, as the other part of core technologies described in this paper, the controller design which contains low-level and high-level control was discussed. Finally, the challenges were listed, which could be the further directions of research.
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Huang, Zixin, Xinpeng Li, Jiarun Wang, Yi Zhang, and Jingfu Mei. "Human Pulse Detection by a Soft Tactile Actuator." Sensors 22, no. 13 (2022): 5047. http://dx.doi.org/10.3390/s22135047.

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Soft sensing technologies offer promising prospects in the fields of soft robots, wearable devices, and biomedical instruments. However, the structural design, fabrication process, and sensing algorithm design of the soft devices confront great difficulties. In this paper, a soft tactile actuator (STA) with both the actuation function and sensing function is presented. The tactile physiotherapy finger of the STA was fabricated by a fluid silica gel material. Before pulse detection, the tactile physiotherapy finger was actuated to the detection position by injecting compressed air into its chamber. The pulse detecting algorithm, which realized the pulse detection function of the STA, is presented. Finally, in actual pulse detection experiments, the pulse values of the volunteers detected by using the STA and by employing a professional pulse meter were close, which illustrates the effectiveness of the pulse detecting algorithm of the STA.
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Book chapters on the topic "Soft actuation technologies"

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Baines, Robert, Frank Fish, and Rebecca Kramer-Bottiglio. "Amphibious Robotic Propulsive Mechanisms: Current Technologies and Open Challenges." In Bioinspired Sensing, Actuation, and Control in Underwater Soft Robotic Systems. Springer International Publishing, 2020. http://dx.doi.org/10.1007/978-3-030-50476-2_3.

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Ino, Shuichi, and Mitsuru Sato. "Soft and Noiseless Actuator Technology Using Metal Hydride Alloys to Support Personal Physical Activity." In Assistive Technologies. InTech, 2012. http://dx.doi.org/10.5772/31032.

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Noritsugu, Toshiro. "Wearable Power Assist Robot Driven with Pneumatic Rubber Artificial Muscles." In Advances in Medical Technologies and Clinical Practice. IGI Global, 2016. http://dx.doi.org/10.4018/978-1-4666-9740-9.ch012.

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Recently, the attention has been focused on developing a wearable power assist robot by installing an actuator, such as motors, in the body and assisting and enhancing muscular power; there has been a considerable increase in research and development in some institutes and companies worldwide. Various types of wearable power assist robots have been proposed to support the upper and lower limbs, waist, and so on, which are to be used for the operational support of elderly and disabled people, nursing care work, and heavy lifting work in production sites. Some of them have been commercialized and their promotions have been advanced. Their social needs are extremely high, and there is an expectation of further improvements of assisting effect, installation performance, safety and convenience and affordability. In this paper, after the current state of research and development of this kind of robot is outlined, and our researches on pneumatic rubber artificial muscles, exoskeleton type standing motion assist devices, and wearable, lightweight, and soft power assist robots without an exoskeleton are introduced.
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Abdoullaev, Azamat. "The Knowledge Society Applications." In Reality, Universal Ontology and Knowledge Systems. IGI Global, 2008. http://dx.doi.org/10.4018/978-1-59904-966-3.ch012.

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Like in the human mind marked by rationality, goals, and purposeful actions, knowledge in advanced computer systems and intelligent agents is thought to constitute a distinct level lying above the symbol (computational), the logical (algorithmic), and the physical (biological, mechanical) levels (Newell, 1980; Newell, 1990; Newell, 1993). The symbol or code level with its two kinds of representations, data structures (contents) and processes (codes and procedures), is considered to be a representational medium level realizing knowledge content and actuating the agent’s thoughts and decisions. Accordingly, all inquiries of AI usually are arranged as a separate contribution either to the symbol (code) level or to the knowledge (semantic) level. Any sort of logic, whatever may be its generality, contributes little directly to the knowledge level, since “no matter how general a logic is, it is not at the knowledge level” (Newell, 1980). Logical principles are by nature merely rules of reasoning, deductive arguments, and demonstration, they are not principles of real knowledge. So, being neutral to their subjects, formal logical systems neither describe nor represent, nor explain, nor predict any real phenomena. Consequently, nothing substantive can be deduced from the logical axioms or postulates regarding the nature and order of things in the real world. Nevertheless, despite the public fact that logic says nothing about any real thing, and that it is all about proposition and inference forms, there is an established habit to combine formal logic languages with entity taxonomies and typologies so that to construct a general representational language for the DA, in particular, and knowledge technologies, in general (Ontology and Taxonomies, 2001). Nowadays, such versions of logical formalisms and languages as semantic networks, rule systems, fuzzy logic, frame models, predicate calcuThe lus, or situation calculus still constitute all the thrust of current knowledge and reasoning applications. Some AI practitioners feel concern about this conceptual confusion, and urge on replacing “form-oriented AI research” with “content-directed AI Research,” whereby substituting knowledge engineering with ontological (domain knowledge) engineering, thus, underlining the higher value of content theories in comparison with so-called logical mechanism theories (Mizoguchi, 1998).
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Conference papers on the topic "Soft actuation technologies"

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Luo, Ming, Erik H. Skorina, Weijia Tao, Fuchen Chen, and Cagdas D. Onal. "Optimized design of a rigid kinematic module for antagonistic soft actuation." In 2015 IEEE International Conference on Technologies for Practical robot Applications (TePRA). IEEE, 2015. http://dx.doi.org/10.1109/tepra.2015.7219694.

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Miccio, Lisa, Pasquale Memmolo, Jaromir Behal, Daniele Pirone, Vittorio Bianco, and Pietro Ferraro. "Soft-matter based micro-lenses: from liquids to living cells." In 3D Image Acquisition and Display: Technology, Perception and Applications. Optica Publishing Group, 2023. http://dx.doi.org/10.1364/3d.2023.dw3a.1.

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MicroLenses Array are ubiquitous in current technologies because of miniaturization needs. Applications ranges from high-resolution endoscopes to OLED. Here, a fabrication\actuation principle exploiting ferroelectric crystal is presented and a new paradigm on bio-lenses described.
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Jiao, Chen, Ashwani Sharan Tripathi, Uwe Marschner, Andreas Richter, and Ernst-Friedrich Markus Henke. "Modelling of Dielectric Elastomer Multiactuator Networks As Cooperative Systems." In ASME 2024 Conference on Smart Materials, Adaptive Structures and Intelligent Systems. American Society of Mechanical Engineers, 2024. http://dx.doi.org/10.1115/smasis2024-140344.

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Abstract Collaborative multi-actuator systems represent a promising avenue for the development of visionary applications such as robotics, medical appliances, and advanced user interfaces. Among various technologies, Dielectric Elastomer (DE) transducers exhibit synergistic properties conducive to cooperative systems. The same material can fulfill different tasks, such as actuation, sensing, or energy harvesting. Combining multiple DE actuators and DE switches can enable similar soft structures to implement basic logic and storage functions. In this paper, we present a mathematical model for a DE transducer network capable of complex actuation tasks. Drawing from our research on DE sensors and actuators, we have developed a model that integrates DE components to simulate multi-actuator networks. Multiple DE switches are interconnected through logic unit designs to achieve complex electro-mechanical behaviors. We predict the multiple outputs of a single input pulse voltage for a highly integrated inverter system through simulation. It opens more possibilities in the application field of cooperative multi-actuator systems.
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Matharu, Pawandeep Singh, Yuyang Song, Umesh Gandhi, and Yonas Tadesse. "Fabrication and Characterization of Mesoporous Carbon-Nickel Silver Powder- Poly (Vinyl Alcohol) Coated Mandrel-Coiled TCPFL Artificial Muscles for Enhanced Performance." In ASME 2023 Conference on Smart Materials, Adaptive Structures and Intelligent Systems. American Society of Mechanical Engineers, 2023. http://dx.doi.org/10.1115/smasis2023-113809.

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Abstract Efficient and powerful actuation technologies that are biomimetic and compliant are required for robotic applications, which might be used for human augmentations. Twisted and coiled polymer fishing line actuators (TCPFL) have attracted a great deal of attention for their use as soft actuators in various robotic applications due to high actuation stroke, high power to weight ratio, low cost and minimal hysteresis. However, they have drawbacks such as low actuation frequency due to slow cooling, high power consumption and low efficiency. In this paper, we have described the fabrication and characterization of novel nanomaterial coating consisting of mesoporous carbon, nickel and silver powder with poly vinyl alcohol (C-NiAg-PVA) for mandrel-coiled twisted and coiled artificial muscles from fishing line. Addition of nickel and silver (NiAg) powder in mesoporous carbon nanoparticles, improves thermal contacts and enhances the actuator performance with better dynamic actuation (∼25 % more actuation) and better cooling for cyclic actuation. Different input currents (0.25 A, 0.26 A, 0.27 A) were provided to the coated and non-coated TCPFL (50 mm in length, 3.3 mm in diameter) and it was observed that the coated actuators consume at least ∼10 % less power than the non-coated actuators when tested in air. This research shows great potential for simple nanomaterial coating of carbon-based and metallic nanomaterials to produce high performing electrothermal actuators.
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Cavallaro, Paul V., Michael P. Smith, Jacob D. O’Donnell, Allison Redington, and Eric Warner. "Soft Artificial Muscle Actuators for Undersea Launch and Recovery Systems." In ASME 2022 International Mechanical Engineering Congress and Exposition. American Society of Mechanical Engineers, 2022. http://dx.doi.org/10.1115/imece2022-93951.

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Abstract The pursuit of increased autonomy for undersea and surface vehicles presents challenges for their launch, recovery, positioning and control (LRP&C). Traditional rigid handling and actuator systems are often volume constrained and can limit payloads capacities and operational effectiveness. The need to innovate high capacity and compact actuation technologies is intensified by increasing demands for rapid deployability and stowability, scalability, adaptability, temporary buoyancy and connectivity across the undersea and surface domains. On-demand inflatable and compactable soft actuators may provide unique solutions with robustness needed to operate in extreme underwater environments. This preliminary research investigated the mechanical behaviors, load and stroke capacities, end termination designs and limitations of artificial soft fabric muscles (ASFMs), also known as McKibben muscles, constructed of High Performance Fibers (HPF) for potential launch, recovery, positioning and control of undersea and surface vehicles and interface platforms. Computational mechanics and experimental tests were performed on air-inflated ASFMs constructed of braided fabrics to evaluate their quasi-static behaviors. Both glass and aramid braid materials were studied for a range of diameters and lengths. The computational models supported the fluid/structure interactions by using an Equation of State (EOS) that governed the thermomechanical behaviors of the internal air during volumetric expansion and axial contraction of the ASFMs.
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Kumaravel, G., S. Kirthiga, G. Vijaya, Khadija Hamed Ali Salim Al Jassasi, Shahad Khamis Mubarak AL-Hinai, and Asma Khamis Abdallah Al Ghafreya. "Design and Development of an Active Tendon Actuation System for a Soft Robotic Finger Using a Kinematic Analysis." In 2024 ASU International Conference in Emerging Technologies for Sustainability and Intelligent Systems (ICETSIS). IEEE, 2024. http://dx.doi.org/10.1109/icetsis61505.2024.10459511.

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Waheed, U., and C. Myant. "Passive Mechanical Metamaterial Sensor and Actuator." In ASME 2020 International Design Engineering Technical Conferences and Computers and Information in Engineering Conference. American Society of Mechanical Engineers, 2020. http://dx.doi.org/10.1115/detc2020-22370.

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Abstract In recent years, and with the continual development of additive manufacturing technologies, mechanical metamaterials have been explored for their programmable nature. This has opened a new design space into devices using functional materials. In this paper, a novel mechanical metamaterial device is designed, combining anisotropic 3D unit cells to slender beams. By controlling the separation distance between the fixed ends of a slender beam, the mechanism can be tuned to transition between monostable and bistable states. This behaves as a sensor and actuator, allowing mechanical signals to pass only when the correct actuation pattern is received. The device is shown to be inherently passive as it returns to a monostable state after actuation. Two different designs have successfully demonstrated this repeatable behaviour. A multi-material PolyJet printed mechanism joining unit cells to a Von Mises Truss, and an SLA printed compliant mechanism coupling unit cells to thin slender beams. A novel approach in performing AND/OR mechanical logic has also been successfully demonstrated by manipulating the mechanical metamaterial when in a bias state. The proposed devices have application in soft robotic systems, the aerospace industry and in the nuclear sector, where there is a need for passive safety systems that are not reliant on electronic systems, and respond to environmental stimuli. The printed mechanisms highlight the potential for mechanical metamaterials to be used as tunable sensors and actuators for future engineering applications.
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Yi, Shiping, Charles Weinberg, Kevin Eschen, and Julianna Abel. "Preliminary Experimental Study of the Effect of Shape Setting on Knitted SMA Structures." In ASME 2017 Conference on Smart Materials, Adaptive Structures and Intelligent Systems. American Society of Mechanical Engineers, 2017. http://dx.doi.org/10.1115/smasis2017-3942.

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Smart materials can be integrated into textile structures to produce active textiles with tailored mechanical properties and large, complex actuation motions. Active textiles have the potential to enable a wide range of applications including wearable technologies, soft robots, medical devices, and aerospace structures. One type of active textile is the shape memory alloy (SMA) knitted structure. SMA knitted structures produce a range of kinematic actuation motions as a result of the bending, torsion, extension, and buckling of the SMA wire during the loop-based knitting manufacturing process. The kinematic motions of several different patterns of SMA knitted actuators have been cataloged, and the mechanical performance of basic knitted patterns have been characterized. However, the effect of shape-setting of knitted SMA structures has not been explored. This paper investigates the effect of post-manufacturing shape-setting on the kinematic and kinetic performance of basic SMA knitted structures. A design of experiment methodology was employed to isolate the impact of knitted pattern, SMA wire diameter, and shape-set curvature on mechanical performance. The introduction of a large curvature shape-set in the SMA wire resulted in a very stiff textile structure with a minimal change in length between the austenite and martensite states, thus, minimal capacity for large actuation deformations. Meanwhile, the introduction of a small curvature in the SMA wire resulted in a nearly constant force plateau and a larger change in length between the austenite and martensite state for the same applied load, and the potential for enhanced structural actuation deformations. Shape-setting is an additional design parameter that can be employed to enhance and tune the mechanical performance of knitted SMA structures.
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Weber, Tobias, Julian Kunze, Benedikt Faupel, and Paul Motzki. "Systematic, Scalable Manufacturing Process for Rolled Dielectric Elastomers." In ASME 2024 Conference on Smart Materials, Adaptive Structures and Intelligent Systems. American Society of Mechanical Engineers, 2024. http://dx.doi.org/10.1115/smasis2024-140140.

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Abstract Dielectric elastomers (DEs) have emerged as promising materials for next-generation soft actuators and artificial muscles, due to their remarkable electromechanical properties, such as low power consumption and high energy density. Due to their sensitivity and wide sensing range, they can also be used as sensors. Among various DE configurations, coreless rolled dielectric elastomer actuators (RDEAs) play a significant role due to their unique advantages in terms of manufacturing efficiency and enhanced performance. This contribution presents the innovations and advancements in the scalable manufacturing process of RDEAs. The goal is to be able to produce them more efficiently, with the eventual goal of series production. We have successfully addressed challenges related to uniformity, scalability, and reproducibility, paving the way for RDEAs to become a viable option for large-scale applications and bundling of multiple RDEAs, for example in valve applications and concert subwoofers. This contribution aims to stimulate further research and collaboration in this rapidly evolving field, ultimately contributing to the development of more efficient and versatile soft actuation technologies.
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Changoski, Vasko, Simona Domazetovska, Maja Anachkova, and Jovana Jovanova. "Autonomous Multifunctional Vehicle With Integrated Bio-Inspired SMA Actuated Grasper." In ASME 2020 Conference on Smart Materials, Adaptive Structures and Intelligent Systems. American Society of Mechanical Engineers, 2020. http://dx.doi.org/10.1115/smasis2020-2343.

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Abstract The space exploration activities are merging new technologies in order to develop systems challenged to achieve capabilities for high mission experience. Inspired by the numerous applications in space exploration, with the integration of shape memory alloys (SMAs), a 3D printed continuous All Terrain Grasper Transport (AT-GT) vehicle with implemented multi-locomotion grasper was created. In order to reduce failure of the mechanical system, the vehicle is equipped with SMA suspension and SMA tensioner of a pulley system with adaptable height able to achieve movement on a given trajectory and adjust to any terrain. SMA actuators provide controllable actuation based on the simplicity of their design and the shape memory effect. By using the advantages of the origami engineering, soft robotics and smart material implementation, a bio-inspired autonomous grasper was integrated on the AT-GT, capable of leaving the vehicle, grabbing an object and bringing it back to the vehicle. The concept development, the analytical models and the prototype including the benefits of the combined work of the vehicle and the grasper are presented.
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