Legged robots have considerable potential for traversing unstructured situations;nonetheless,their inflexible frameworks often constrain adaptability and obstacle negotiation.The study article presents a revolutionary...Legged robots have considerable potential for traversing unstructured situations;nonetheless,their inflexible frameworks often constrain adaptability and obstacle negotiation.The study article presents a revolutionary Soft Tri-Legged Robot(STLR)that improves movement and obstacle-avoidance skills by using a bio-inspired pneumatic artificial muscle(Bubble Artificial Muscles)and a bio-inspired tactile sensor(TacTip).The STLR is activated by BAMs,which are flexible,pneu-matic-driven actuators that provide fine control over forward,backward,and steering movements.Obstacle identification and avoidance are facilitated by the TacTip sensor,which delivers tactile input for traversing unstructured terrains.We delineate the mechanical features of the BAMs,assess the functionality of the robot's legs,and elaborate on the incorpora-tion of the tactile sensing system.Experimental results demonstrate that the STLR can effectively achieve multi-directional flexible movement and obstacle avoidance through a cross-modal perception-actuation mechanism.This study highlights the promise of soft robotics for search and rescue,medical aid,and autonomous exploration,while delineating difficulties and opportunities for future improvements in functionality and efficiency.展开更多
Pneumatic artificial muscles(PAMs)can generate multimodal movements,e.g.,linear contraction/extension,spiral torsion,and bending motions.Among these motions,contraction and extension movements can be achieved using li...Pneumatic artificial muscles(PAMs)can generate multimodal movements,e.g.,linear contraction/extension,spiral torsion,and bending motions.Among these motions,contraction and extension movements can be achieved using linear PAMs(LPAMs)designed to mimic human skeletal muscle.LPAMs have considerable potential for wearable applications and can be integrated into soft wearable robotic systems.Due to their inherent compliance,excellent human-robot interaction,safety,and low cost,LPAMs are considered potential alternatives as actuator components in the construction of wearable robots.This review presents a comprehensive overview of the bio-inspired design of LPAMs and their wearable applications.The biomechanics of human skeletal muscle,including anatomy,morphology,and biomechanical characterization,is analyzed to provide design inspirations for LPAMs and determine the assistance requirements of LPAM-based wearable robots.Herein,LPAMs are classified into four categories based on their structural shapes,including cylindrical-shaped muscles,flat-shaped muscles,fold-shaped muscles,and muscles with other shapes.In addition,this review provides an overview of the diverse physical interfaces utilized in wearable robots and presents a comparative analysis of the actuation characteristics of LPAMs and the assistance performance of LPAM-based wearable robots.This analysis was conducted in consideration of several key metrics,including the contraction ratio,maximum force,specific force,response frequency,assistive torque/bodyweight,and net metabolic cost.Finally,this review summarizes the ongoing challenges and future research directions.展开更多
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 r...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.展开更多
Force feedback dataglove is an important interface of human-machine interaction between manipulator and virtual assembly system, which is in charge of the bidirectional transmission of movement and force information b...Force feedback dataglove is an important interface of human-machine interaction between manipulator and virtual assembly system, which is in charge of the bidirectional transmission of movement and force information between computer and operator. The exoskeleton force feedback dataglove is designed taking the pneumatic artificial muscle as actuator, meanwhile, its structure and work principle are introduced, and the force control problem is analyzed and researched by experiment. The mathematic model of grasping rigid object for finger is established. Considering the friction of tendon-sheath system and finger deformation, the closed-loop force control for a single joint, a single finger and multi-fingers are studied respectively by the feedforward proportional-integral（PI） control method with variable arguments. On the premise of the force smoothness, the control error of the force exerted on the finger joint is in the range of ±0.25 N, which meets the requirement of force feedback. By experimental analysis, the reason of force fluctuation is that the finger joint has a small amplitude quiver, and the consistent change tendency of the force between proximal interphalangeal（PIP） joint and distal interphalangeal（DIP） joint results from their angle coupling relationship.展开更多
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 respon...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.展开更多
An exoskeleton force feedback dataglove is developed,which uses the pneumatic artificial muscles as actuators.On the basis of the simplified hand model,the motion equation is deduced according to the theory of Denavit...An exoskeleton force feedback dataglove is developed,which uses the pneumatic artificial muscles as actuators.On the basis of the simplified hand model,the motion equation is deduced according to the theory of Denavit-Hartenberg.The model of the equivalent contact forces exerted by the object on the finger is proposed.By the principle of virtual work,the static equilibrium of finger is established.The force Jacobian matrix of finger is calculated,and then the joint torques of the finger when grasping objects are obtained.The theory and structure of the force feedback datagolve are introduced.Based on the theory of motion stabilization of four-bar linkage,the flexion angles of joints are measured.The torques on finger joints caused by the output forces of pneumatic artificial muscles are calculated.The output forces of pneumatic artificial muscle,whose values are controlled by its inner pressure,can be calculated by the joint torques of the finger when grasping objects.The arms of force,driving torques and the needed output forces of pneumatic muscle are calculated for each joint of the index finger.The criterion of output force of pneumatic muscle is given.展开更多
In this paper,we present the design,fabrication,locomotion and bionic analysis of a Soft Robotic Fish Actuated by Artificial Muscle(SoRoFAAM).As a carangiform swimmer,the most important part of SoRoFAAM-1,on the motio...In this paper,we present the design,fabrication,locomotion and bionic analysis of a Soft Robotic Fish Actuated by Artificial Muscle(SoRoFAAM).As a carangiform swimmer,the most important part of SoRoFAAM-1,on the motion point of view,is its tail designed around a bidirectional flexible bending actuator by layered bonding technology.This actuator is made of two artificial muscle modules based on Shape Memory Alloy(SMA)wires.Each artificial muscle module has four independent SMA-wire channels and is therefore capable of producing four different actuations.This design allows us to implement an adaptive regulated control strategy based on resistance feedback of the SMA wires to prevent them from overheating.To improve the actuation frequency to 2 Hz and the heat-dissipation ratio by 60%,we developed a round-robin heating strategy.Furthermore,the thermomechanical model of actuator is built,and the thermal transformation is analysed.The relationships between the actuation parameters and SoRoFAAM-1’s kinematic parameters are analysed.The versatility of the actuator endows SoRoFAAM-1 with cruise straight and turning abilities.Moreover,SoRoFAAM-1 has a good bionic fidelity;in particular,a maneuverability of 0.15,a head swing factor of 0.38 and a Strouhal number of 0.61.展开更多
Bending Pneumatic Artificial Muscles(PAMs)are particularly attractive and extensively applied to the soft grasper,snake-like robot,etc.To extend the application of PAMs,we fabricate a Multi-directional Bending Pneumat...Bending Pneumatic Artificial Muscles(PAMs)are particularly attractive and extensively applied to the soft grasper,snake-like robot,etc.To extend the application of PAMs,we fabricate a Multi-directional Bending Pneumatic Artificial Muscle(MBPAM)that can bend in eight directions by changing the pressurized chambers.The maximum bending angle and output force are 151°and 0.643 N under the pressure of 100 kPa,respectively.Additionally,the Finite Element Model(FEM)is established to further investigate the performance.The experimental and numerical results demonstrate the nonlinear relationship between the pressure and the bending angle and output force.Moreover,the effects of parameters on the performance are studied with the validated FEM.The results reveal that the amplitude of waves and the thickness of the base layer can be optimized.Thus,multi-objective optimization is performed to improve the bending performance of the MBPAM.The optimization results indicate that the output force can be increased by 7.8%with the identical bending angle of the initial design,while the bending angle can be improved by 8.6%with the same output force.Finally,the grasp tests demonstrate the grip capability of the soft four-finger gripper and display the application prospect of the MBPAM in soft robots.展开更多
Artificial muscles are materials which possess muscle-like characteristics;they have many promising applications and many materials have been exploited as artificial muscles.In this review,the artificial muscles discu...Artificial muscles are materials which possess muscle-like characteristics;they have many promising applications and many materials have been exploited as artificial muscles.In this review,the artificial muscles discussed are confined to die-lectric elastomers and responsive gels.We focus on their constitutive models based on free energy function theory.For dielectric elastomers,both hyperelastic and visco-hyperelastic models are involved.For responsive gels,we consider different kinds of gels,such as hydrogel,pH-sensitive gel,temperature-sensitive gel,polyelectrolyte gel,reactive gel,etc.With an accurate,relia-ble,and powerful constitutive model,exact theoretical analysis can he achieved and the important intrinsic characteristics of artificial muscle based systems can be revealed.展开更多
According to the deficiency of the present model of pneumatic artificialmuscles (PAM), a serial model is built up based on the PAM's essential working principle with theelastic theory, it is validated by the quasi...According to the deficiency of the present model of pneumatic artificialmuscles (PAM), a serial model is built up based on the PAM's essential working principle with theelastic theory, it is validated by the quasi-static and dynamic experiment results, which are gainedfrom two experiment systems. The experiment results and the simulation results illustrate that theserial model has made a great success compared with Chou's model, which can describe the forcecharacteristics of PAM more precisely. A compensation item considering the braid's elasticity andthe coulomb damp is attached to the serial model based on the analysis of the experiment results.The dynamic experiment proves that the viscous damp of the PAM could be ignored in order to simplifythe model of PAM. Finally, an improved serial model of PAM is obtained.展开更多
In this paper, the practicality and feasibility of Active Force Control （AFC） integrated with Fuzzy Logic（AFCAFL） applied to a two link planar arm actuated by a pair of Pneumatic Artificial Muscle （PAM） is inves...In this paper, the practicality and feasibility of Active Force Control （AFC） integrated with Fuzzy Logic（AFCAFL） applied to a two link planar arm actuated by a pair of Pneumatic Artificial Muscle （PAM） is investigated. The study emphasizes on the application and control of PAM actuators which may be considered as the new generation of actuators comprising fluidic muscle that has high-tension force, high power to weight ratio and high strength in spite of its drawbacks in the form of high nonlinearity behaviour, high hysteresis and time varying parameters. Fuzzy Logic （FL） is used as a technique to estimate the best value of the inertia matrix of robot arm essential for the AFC mechanism that is complemented with a conventional Propor- tional-Integral-Derivative （PID） control at the outermost loop. A simulation study was first performed followed by an experi- mental investigation for validation. The experimental study was based on the independent joint tracking control and coordinated motion control of the arm in Cartesian or task space. In the former, the PAM actuated arm is commanded to track the prescribed trajectories due to harmonic excitations at the joints for a given frequency, whereas for the latter, two sets of trajectories with different loadings were considered. A practical rig utilizing a Hardware-In-The-Loop Simulation （HILS） configuration was developed and a number of experiments were carried out. The results of the experiment and the simulation works were in good agreement, which verified the effectiveness and robustness of the proposed AFCAFL scheme actuated by PAM.展开更多
This paper develops a discrete-time sliding mode controller with a power rate exponential reaching law approach to enhance the performance of a pneumatic artificial muscle system in both reaching time and chattering r...This paper develops a discrete-time sliding mode controller with a power rate exponential reaching law approach to enhance the performance of a pneumatic artificial muscle system in both reaching time and chattering reduction.The proposed method dynamically adapts to the variation of the switching function,which is based on an exponential term and a power rate term of the sliding surface.Thus,the controlled system can achieve high tracking performance while still obtain chattering-free control.Moreover,the effectiveness of the proposed method is validated through multiple experimental tests,focused on a dual pneumatic artificial muscle system.Finally,experimental results show the effectiveness of the proposed approach in this paper.展开更多
A variable camber wing driven by pneumatic artificial muscles is developed in this paper. Firstly, the experimental setup to measure the static output force of pneumatic artificial muscle is designed and the relations...A variable camber wing driven by pneumatic artificial muscles is developed in this paper. Firstly, the experimental setup to measure the static output force of pneumatic artificial muscle is designed and the relationship between the static output force and the air pressure is investigated. Experimental results show that the static output force of pneumatic artificial muscle decreases nonlinearly with the increase of contraction ratio. Secondly, the model of variable camber wing driven by pneumatic artificial muscles is manufactured to validate the variable camber concept. Finally, wind tunnel tests are conducted in the low speed wind tunnel. It is found that the wing camber increases with the increase of air pressure. When the air pressure of PAMs is 0.4 MPa and 0.5 MPa, the tip displacement of the trailing-edge is 3 mm and 5 mm, respectively. The lift of aerofoil with flexible trailing-edge increases by 87% at AOA of 5°.展开更多
Dielectric elastomer actuators (DEAs) artificial muscle is a typical interdisciplinary research category, which has developed by leaps and bounds in the past 20 years, showing great application prospects in various fi...Dielectric elastomer actuators (DEAs) artificial muscle is a typical interdisciplinary research category, which has developed by leaps and bounds in the past 20 years, showing great application prospects in various fields. Upon external electrical stimulation, dielectric elastomers (DEs) display large deformation, high energy density and fast response, affording a promising material candidate for soft robotics. Herein, the working mechanisms, commonly used materials as well as the concepts for improving the performance of DEA materials are introduced. Various DEA driven soft robots, including soft grippers, bioinspired artificial arms, crawling/walking/underwater/flying/jumping soft robots and tunable lenses, are then described in detail. Finally, the main challenges of DEA driven soft robots are summarized, and some perspectives for promoting the practical application of DEAs are also proposed.展开更多
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...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.展开更多
Recent advances in bionics have made it possible to create various tissue and organs.Using this cell culture technology,engineers have developed a robot driven by three-dimensional cultured muscle cells(bioactuator)—...Recent advances in bionics have made it possible to create various tissue and organs.Using this cell culture technology,engineers have developed a robot driven by three-dimensional cultured muscle cells(bioactuator)—a muscle cell robot.For more applications,researchers have been developed various tissues and organs with bio3D printer.However,three-dimensional cultured muscle cells printed by bio3D printer have been not used for muscle cell robot yet.The aim of our study is to develop easy fabrication method of bioactuator having high design flexibility like as bio3D printer.We fabricated three-dimensional cultured muscle cells using mold and dish having pin which can contribute to shape and cell alignment.In this study,we observed that our method maintained the shape of three-dimensional cultured muscle cells and caused cell alignment which is important for bioactuator development.We named three-dimensional cultured muscle cells developed in this study“bio-cultured artificial muscle(BiCAM)”.Finally,we observed that BiCAM contracted in response to electrical stimulus.From these data,we concluded our proposed method is easy fabrication method of bioactuator having high design flexibility.展开更多
The bionic legs are generally driven by motors which have the disadvantages of large size and heavy weight.In contrast,the bionic legs driven by pneumatic artificial muscles(PAMs)have the advantages of light weight,go...The bionic legs are generally driven by motors which have the disadvantages of large size and heavy weight.In contrast,the bionic legs driven by pneumatic artificial muscles(PAMs)have the advantages of light weight,good bionics and flexibility.A kind of bionic leg driven by PAMs is designed.The proportional-integral-derivative(PID)algorithm and radial basis function neural network(RBFNN)algorithm are combined to design RBFNN-PID controller,and a low-pass filter is added to the control system,which can effectively improve the jitter phenomenon of the joint during the experiment.It is verified by simulation that the RBFNN-PID algorithm is better than traditional PID algorithm,the response time of joint is improved from 0.15 s to 0.07 s,and the precision of joint position control is improved from 0.75°to 0.001°.The experimental results show that the amplitude of the change in error is reduced from 0.5°to 0.2°.It is verified by jumping experiment that the mechanism can realize jumping action under control,and can achieve the horizontal displacement of 500 mm and the vertical displacement of 250 mm.展开更多
For promising applications such as soft robotics,flexible haptic monitors,and active biomedical devices,it is important to develop ultralow voltage,highly-performant artificial muscles with high bending strains,rapid ...For promising applications such as soft robotics,flexible haptic monitors,and active biomedical devices,it is important to develop ultralow voltage,highly-performant artificial muscles with high bending strains,rapid response times,and superior actuation endurance.We report a novel highly performant and low-cost artificial muscle based on microfibrillated cellulose(MFC),ionic liquid(IL),and polyvinyl alcohol(PVA),The proposed MFC-IL-PVA actuator exhibits excellent electro-chemical performance and actuations characteristics with a high specific capacitance of 225 mF/cm2,a large bending strain of 0.51%,peak displacement up to 7.02 mm at 0.25 V ultra-low voltage,outstanding actuation flexural endurance(99.1%holding rate for 3 h),and a wide frequency band(0.1-5 Hz).These attributes stem mainly from its high specific surface area and porosity,tunable mechanical properties,and the strong ionic interactions of cations and anions with MFC and PVA in ionic liquids.Furthermore,bionic applications such as bionic flytraps,bionic butterflies with vibrating wings,and smart circuit switches have been successfully realized using this technology.These specific bionic applications demonstrate the versatility and potential of the MFC-IL-PVA actuator,highlighting its important role in the fields of bionic engineering,robotics,and smart materials.They open up new possibilities for innovative scientific research and technological applications.展开更多
Twisted and coiled artificial muscles(TAMs)have been extensively studied in the field of soft robots due to their exceptional properties,including high energy density,large load-to-weight ratio,large deformation,low d...Twisted and coiled artificial muscles(TAMs)have been extensively studied in the field of soft robots due to their exceptional properties,including high energy density,large load-to-weight ratio,large deformation,low driving voltage,and low hysteresis.The advancements of TAMs hold the potential for enhancing the performance and broadening their functional capabilities of soft robots,thus demonstrating substantial practical value.This review outlines the recent progress in TAMs and their diverse applications in soft robots.First,the commonly used materials to fabricate TAMs,including inorganic fibers,composite fibers,organic fibers,and natural fibers,are discussed along with their characteristics.Then,the actuation strategies are summarized across four aspects:thermal method,solvent method,electrochemical method and other non-contact methods.Moreover,the configurations of TAMs are classified into single,parallel and braided structures.In addition,various soft robots driven by TAMs are introduced according to their functions,including manipulation,locomotion,smart textile,and sensor.Finally,the research hotspots and development trends of TAMs are evaluated.It is expected that this review article can serve as a valuable reference and source of inspiration for researchers in the field of soft actuators and robots.展开更多
基金the Natural Science Foundation of China(Project for Young Scientists:Grant No.52105010,Regular Project:Grant No.62173096)Natural Science Foundationof Guangdong Province(Regular Project:Grant No.2025A1515012124,Grant No.2022A1515010327)Guangdong-Hong Kong-Macao Key Laboratory of Multi-scaleInformation Fusion and Collaborative Optimization Control Manufacturing Process.
文摘Legged robots have considerable potential for traversing unstructured situations;nonetheless,their inflexible frameworks often constrain adaptability and obstacle negotiation.The study article presents a revolutionary Soft Tri-Legged Robot(STLR)that improves movement and obstacle-avoidance skills by using a bio-inspired pneumatic artificial muscle(Bubble Artificial Muscles)and a bio-inspired tactile sensor(TacTip).The STLR is activated by BAMs,which are flexible,pneu-matic-driven actuators that provide fine control over forward,backward,and steering movements.Obstacle identification and avoidance are facilitated by the TacTip sensor,which delivers tactile input for traversing unstructured terrains.We delineate the mechanical features of the BAMs,assess the functionality of the robot's legs,and elaborate on the incorpora-tion of the tactile sensing system.Experimental results demonstrate that the STLR can effectively achieve multi-directional flexible movement and obstacle avoidance through a cross-modal perception-actuation mechanism.This study highlights the promise of soft robotics for search and rescue,medical aid,and autonomous exploration,while delineating difficulties and opportunities for future improvements in functionality and efficiency.
基金supported by the National Natural Science Foundation of China(No.52475067).
文摘Pneumatic artificial muscles(PAMs)can generate multimodal movements,e.g.,linear contraction/extension,spiral torsion,and bending motions.Among these motions,contraction and extension movements can be achieved using linear PAMs(LPAMs)designed to mimic human skeletal muscle.LPAMs have considerable potential for wearable applications and can be integrated into soft wearable robotic systems.Due to their inherent compliance,excellent human-robot interaction,safety,and low cost,LPAMs are considered potential alternatives as actuator components in the construction of wearable robots.This review presents a comprehensive overview of the bio-inspired design of LPAMs and their wearable applications.The biomechanics of human skeletal muscle,including anatomy,morphology,and biomechanical characterization,is analyzed to provide design inspirations for LPAMs and determine the assistance requirements of LPAM-based wearable robots.Herein,LPAMs are classified into four categories based on their structural shapes,including cylindrical-shaped muscles,flat-shaped muscles,fold-shaped muscles,and muscles with other shapes.In addition,this review provides an overview of the diverse physical interfaces utilized in wearable robots and presents a comparative analysis of the actuation characteristics of LPAMs and the assistance performance of LPAM-based wearable robots.This analysis was conducted in consideration of several key metrics,including the contraction ratio,maximum force,specific force,response frequency,assistive torque/bodyweight,and net metabolic cost.Finally,this review summarizes the ongoing challenges and future research directions.
基金supported by the National Natural Science Foundation of China(Nos.52175277,51905431).
文摘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.
基金supported by National Natural Science Foundation of China (Grant No. 50375034)Research Foundation for the Doctoral Program of Higher Education of China (Grant No. 200802881002)
文摘Force feedback dataglove is an important interface of human-machine interaction between manipulator and virtual assembly system, which is in charge of the bidirectional transmission of movement and force information between computer and operator. The exoskeleton force feedback dataglove is designed taking the pneumatic artificial muscle as actuator, meanwhile, its structure and work principle are introduced, and the force control problem is analyzed and researched by experiment. The mathematic model of grasping rigid object for finger is established. Considering the friction of tendon-sheath system and finger deformation, the closed-loop force control for a single joint, a single finger and multi-fingers are studied respectively by the feedforward proportional-integral（PI） control method with variable arguments. On the premise of the force smoothness, the control error of the force exerted on the finger joint is in the range of ±0.25 N, which meets the requirement of force feedback. By experimental analysis, the reason of force fluctuation is that the finger joint has a small amplitude quiver, and the consistent change tendency of the force between proximal interphalangeal（PIP） joint and distal interphalangeal（DIP） joint results from their angle coupling relationship.
基金financial supportfrom the National Natural Science Foundation of China(Grant Nos.51605220,U1637101)the Jiangsu Province NaturalScience Foundation(GrantNo.BK20160793)。
文摘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.
基金This project is supported by National Natural Science Foundation of China(No.50375034).
文摘An exoskeleton force feedback dataglove is developed,which uses the pneumatic artificial muscles as actuators.On the basis of the simplified hand model,the motion equation is deduced according to the theory of Denavit-Hartenberg.The model of the equivalent contact forces exerted by the object on the finger is proposed.By the principle of virtual work,the static equilibrium of finger is established.The force Jacobian matrix of finger is calculated,and then the joint torques of the finger when grasping objects are obtained.The theory and structure of the force feedback datagolve are introduced.Based on the theory of motion stabilization of four-bar linkage,the flexion angles of joints are measured.The torques on finger joints caused by the output forces of pneumatic artificial muscles are calculated.The output forces of pneumatic artificial muscle,whose values are controlled by its inner pressure,can be calculated by the joint torques of the finger when grasping objects.The arms of force,driving torques and the needed output forces of pneumatic muscle are calculated for each joint of the index finger.The criterion of output force of pneumatic muscle is given.
基金The authors gratefully acknowledge financial support from the National Science Foundation of China(Nos.61773358)and Cyrus Tang Foundation.
文摘In this paper,we present the design,fabrication,locomotion and bionic analysis of a Soft Robotic Fish Actuated by Artificial Muscle(SoRoFAAM).As a carangiform swimmer,the most important part of SoRoFAAM-1,on the motion point of view,is its tail designed around a bidirectional flexible bending actuator by layered bonding technology.This actuator is made of two artificial muscle modules based on Shape Memory Alloy(SMA)wires.Each artificial muscle module has four independent SMA-wire channels and is therefore capable of producing four different actuations.This design allows us to implement an adaptive regulated control strategy based on resistance feedback of the SMA wires to prevent them from overheating.To improve the actuation frequency to 2 Hz and the heat-dissipation ratio by 60%,we developed a round-robin heating strategy.Furthermore,the thermomechanical model of actuator is built,and the thermal transformation is analysed.The relationships between the actuation parameters and SoRoFAAM-1’s kinematic parameters are analysed.The versatility of the actuator endows SoRoFAAM-1 with cruise straight and turning abilities.Moreover,SoRoFAAM-1 has a good bionic fidelity;in particular,a maneuverability of 0.15,a head swing factor of 0.38 and a Strouhal number of 0.61.
基金the National Natural Science Foundation of China(11872178,51621004)are gratefully acknowledged。
文摘Bending Pneumatic Artificial Muscles(PAMs)are particularly attractive and extensively applied to the soft grasper,snake-like robot,etc.To extend the application of PAMs,we fabricate a Multi-directional Bending Pneumatic Artificial Muscle(MBPAM)that can bend in eight directions by changing the pressurized chambers.The maximum bending angle and output force are 151°and 0.643 N under the pressure of 100 kPa,respectively.Additionally,the Finite Element Model(FEM)is established to further investigate the performance.The experimental and numerical results demonstrate the nonlinear relationship between the pressure and the bending angle and output force.Moreover,the effects of parameters on the performance are studied with the validated FEM.The results reveal that the amplitude of waves and the thickness of the base layer can be optimized.Thus,multi-objective optimization is performed to improve the bending performance of the MBPAM.The optimization results indicate that the output force can be increased by 7.8%with the identical bending angle of the initial design,while the bending angle can be improved by 8.6%with the same output force.Finally,the grasp tests demonstrate the grip capability of the soft four-finger gripper and display the application prospect of the MBPAM in soft robots.
基金supported by the National Natural Science Foundation of China(Nos.11222218,11372273,and 11321202)the Zhejiang Provincial Natural Science Foundation of China(Nos.LY13A020001 and LZ14A020001)+1 种基金the Fundamental Research Funds for the Central UniversitiesChina
文摘Artificial muscles are materials which possess muscle-like characteristics;they have many promising applications and many materials have been exploited as artificial muscles.In this review,the artificial muscles discussed are confined to die-lectric elastomers and responsive gels.We focus on their constitutive models based on free energy function theory.For dielectric elastomers,both hyperelastic and visco-hyperelastic models are involved.For responsive gels,we consider different kinds of gels,such as hydrogel,pH-sensitive gel,temperature-sensitive gel,polyelectrolyte gel,reactive gel,etc.With an accurate,relia-ble,and powerful constitutive model,exact theoretical analysis can he achieved and the important intrinsic characteristics of artificial muscle based systems can be revealed.
文摘According to the deficiency of the present model of pneumatic artificialmuscles (PAM), a serial model is built up based on the PAM's essential working principle with theelastic theory, it is validated by the quasi-static and dynamic experiment results, which are gainedfrom two experiment systems. The experiment results and the simulation results illustrate that theserial model has made a great success compared with Chou's model, which can describe the forcecharacteristics of PAM more precisely. A compensation item considering the braid's elasticity andthe coulomb damp is attached to the serial model based on the analysis of the experiment results.The dynamic experiment proves that the viscous damp of the PAM could be ignored in order to simplifythe model of PAM. Finally, an improved serial model of PAM is obtained.
文摘In this paper, the practicality and feasibility of Active Force Control （AFC） integrated with Fuzzy Logic（AFCAFL） applied to a two link planar arm actuated by a pair of Pneumatic Artificial Muscle （PAM） is investigated. The study emphasizes on the application and control of PAM actuators which may be considered as the new generation of actuators comprising fluidic muscle that has high-tension force, high power to weight ratio and high strength in spite of its drawbacks in the form of high nonlinearity behaviour, high hysteresis and time varying parameters. Fuzzy Logic （FL） is used as a technique to estimate the best value of the inertia matrix of robot arm essential for the AFC mechanism that is complemented with a conventional Propor- tional-Integral-Derivative （PID） control at the outermost loop. A simulation study was first performed followed by an experi- mental investigation for validation. The experimental study was based on the independent joint tracking control and coordinated motion control of the arm in Cartesian or task space. In the former, the PAM actuated arm is commanded to track the prescribed trajectories due to harmonic excitations at the joints for a given frequency, whereas for the latter, two sets of trajectories with different loadings were considered. A practical rig utilizing a Hardware-In-The-Loop Simulation （HILS） configuration was developed and a number of experiments were carried out. The results of the experiment and the simulation works were in good agreement, which verified the effectiveness and robustness of the proposed AFCAFL scheme actuated by PAM.
文摘This paper develops a discrete-time sliding mode controller with a power rate exponential reaching law approach to enhance the performance of a pneumatic artificial muscle system in both reaching time and chattering reduction.The proposed method dynamically adapts to the variation of the switching function,which is based on an exponential term and a power rate term of the sliding surface.Thus,the controlled system can achieve high tracking performance while still obtain chattering-free control.Moreover,the effectiveness of the proposed method is validated through multiple experimental tests,focused on a dual pneumatic artificial muscle system.Finally,experimental results show the effectiveness of the proposed approach in this paper.
基金Sponsored by the Specialized Research Fund for the Doctoral Program of Higher Education(Grant No.20102302120032)the Open Foundation of Key Laboratory of Advanced Composites in Special Environmentsthe Natural Scientific Research Innovation Foundation in Harbin Institute of Technology(Grant No.HIT.NSRIF.2012028)
文摘A variable camber wing driven by pneumatic artificial muscles is developed in this paper. Firstly, the experimental setup to measure the static output force of pneumatic artificial muscle is designed and the relationship between the static output force and the air pressure is investigated. Experimental results show that the static output force of pneumatic artificial muscle decreases nonlinearly with the increase of contraction ratio. Secondly, the model of variable camber wing driven by pneumatic artificial muscles is manufactured to validate the variable camber concept. Finally, wind tunnel tests are conducted in the low speed wind tunnel. It is found that the wing camber increases with the increase of air pressure. When the air pressure of PAMs is 0.4 MPa and 0.5 MPa, the tip displacement of the trailing-edge is 3 mm and 5 mm, respectively. The lift of aerofoil with flexible trailing-edge increases by 87% at AOA of 5°.
基金support from the National Natural Science Foundation of China(Grant No.51525301)the Talent Cultivation of State Key Laboratory of Organic-Inorganic Composites(No.OIC-D2021002).
文摘Dielectric elastomer actuators (DEAs) artificial muscle is a typical interdisciplinary research category, which has developed by leaps and bounds in the past 20 years, showing great application prospects in various fields. Upon external electrical stimulation, dielectric elastomers (DEs) display large deformation, high energy density and fast response, affording a promising material candidate for soft robotics. Herein, the working mechanisms, commonly used materials as well as the concepts for improving the performance of DEA materials are introduced. Various DEA driven soft robots, including soft grippers, bioinspired artificial arms, crawling/walking/underwater/flying/jumping soft robots and tunable lenses, are then described in detail. Finally, the main challenges of DEA driven soft robots are summarized, and some perspectives for promoting the practical application of DEAs are also proposed.
基金This project is supported by Foundation of Public Laboratory on Robotics of Chinese Academy of Sciences.
文摘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.
基金supported by Japan Society for the Promotion of Science (JSPS)KAKENHI Grant Numbers JP18H05467,JP19K23488.
文摘Recent advances in bionics have made it possible to create various tissue and organs.Using this cell culture technology,engineers have developed a robot driven by three-dimensional cultured muscle cells(bioactuator)—a muscle cell robot.For more applications,researchers have been developed various tissues and organs with bio3D printer.However,three-dimensional cultured muscle cells printed by bio3D printer have been not used for muscle cell robot yet.The aim of our study is to develop easy fabrication method of bioactuator having high design flexibility like as bio3D printer.We fabricated three-dimensional cultured muscle cells using mold and dish having pin which can contribute to shape and cell alignment.In this study,we observed that our method maintained the shape of three-dimensional cultured muscle cells and caused cell alignment which is important for bioactuator development.We named three-dimensional cultured muscle cells developed in this study“bio-cultured artificial muscle(BiCAM)”.Finally,we observed that BiCAM contracted in response to electrical stimulus.From these data,we concluded our proposed method is easy fabrication method of bioactuator having high design flexibility.
基金Supported by the National Natural Science Foundation of China(No.51775323).
文摘The bionic legs are generally driven by motors which have the disadvantages of large size and heavy weight.In contrast,the bionic legs driven by pneumatic artificial muscles(PAMs)have the advantages of light weight,good bionics and flexibility.A kind of bionic leg driven by PAMs is designed.The proportional-integral-derivative(PID)algorithm and radial basis function neural network(RBFNN)algorithm are combined to design RBFNN-PID controller,and a low-pass filter is added to the control system,which can effectively improve the jitter phenomenon of the joint during the experiment.It is verified by simulation that the RBFNN-PID algorithm is better than traditional PID algorithm,the response time of joint is improved from 0.15 s to 0.07 s,and the precision of joint position control is improved from 0.75°to 0.001°.The experimental results show that the amplitude of the change in error is reduced from 0.5°to 0.2°.It is verified by jumping experiment that the mechanism can realize jumping action under control,and can achieve the horizontal displacement of 500 mm and the vertical displacement of 250 mm.
基金supported by National Natural Science Foundation of China(51525504,51905487,12102393)Bellwethers Research and Development Plan of Zhejiang Province of China(Grant No.2023C01045)+2 种基金Fundamental Research Funds of Zhejiang Sci-Tech University(24242115-Y)Natural Science Foundation of Zhejiang Province(LY21E050023)Zhejiang Provincial General Scientific Research Projects Fund of China under Grant Y202353093.
文摘For promising applications such as soft robotics,flexible haptic monitors,and active biomedical devices,it is important to develop ultralow voltage,highly-performant artificial muscles with high bending strains,rapid response times,and superior actuation endurance.We report a novel highly performant and low-cost artificial muscle based on microfibrillated cellulose(MFC),ionic liquid(IL),and polyvinyl alcohol(PVA),The proposed MFC-IL-PVA actuator exhibits excellent electro-chemical performance and actuations characteristics with a high specific capacitance of 225 mF/cm2,a large bending strain of 0.51%,peak displacement up to 7.02 mm at 0.25 V ultra-low voltage,outstanding actuation flexural endurance(99.1%holding rate for 3 h),and a wide frequency band(0.1-5 Hz).These attributes stem mainly from its high specific surface area and porosity,tunable mechanical properties,and the strong ionic interactions of cations and anions with MFC and PVA in ionic liquids.Furthermore,bionic applications such as bionic flytraps,bionic butterflies with vibrating wings,and smart circuit switches have been successfully realized using this technology.These specific bionic applications demonstrate the versatility and potential of the MFC-IL-PVA actuator,highlighting its important role in the fields of bionic engineering,robotics,and smart materials.They open up new possibilities for innovative scientific research and technological applications.
基金supported in part by the National Natural Science Foundation of China(No.52225501 and No.523B2040)the Postdoctoral Fellowship Program of CPSF(No.GZB20240959).
文摘Twisted and coiled artificial muscles(TAMs)have been extensively studied in the field of soft robots due to their exceptional properties,including high energy density,large load-to-weight ratio,large deformation,low driving voltage,and low hysteresis.The advancements of TAMs hold the potential for enhancing the performance and broadening their functional capabilities of soft robots,thus demonstrating substantial practical value.This review outlines the recent progress in TAMs and their diverse applications in soft robots.First,the commonly used materials to fabricate TAMs,including inorganic fibers,composite fibers,organic fibers,and natural fibers,are discussed along with their characteristics.Then,the actuation strategies are summarized across four aspects:thermal method,solvent method,electrochemical method and other non-contact methods.Moreover,the configurations of TAMs are classified into single,parallel and braided structures.In addition,various soft robots driven by TAMs are introduced according to their functions,including manipulation,locomotion,smart textile,and sensor.Finally,the research hotspots and development trends of TAMs are evaluated.It is expected that this review article can serve as a valuable reference and source of inspiration for researchers in the field of soft actuators and robots.
