Marcus Rosenthal - Academia.edu (original) (raw)
Papers by Marcus Rosenthal
A process for forming an electroactive polymer, the method comprising: stretching the electroacti... more A process for forming an electroactive polymer, the method comprising: stretching the electroactive polymer to achieve a prestress in a portion of the polymer; yacoplar a backing layer to a portion of the surface of the polymer when the polymer is pre-tensioned, characterized in that the support layer overlaps with prestressed portion and maintains at least parcialmenteel prestress in the portion.
L'invention concerne des polymeres electroactifs, des transducteurs et des dispositifs qui ma... more L'invention concerne des polymeres electroactifs, des transducteurs et des dispositifs qui maintiennent des precontraintes dans une ou plusieurs parties d'un polymere electroactif. Les polymeres electroactifs peuvent comprendre une partie precontrainte et une partie renforcee, configuree pour maintenir une precontrainte dans une partie precontrainte. Une technique de fabrication applique une precontrainte dans le polymere electroactif partiellement durci. Ledit polymere partiellement durci est ensuite durci pour renforcer et maintenir la precontrainte. Dans une autre technique de fabrication, une couche support est couplee au polymere qui maintient la precontrainte dans une partie du polymere electroactif. Dans un autre mode de realisation de l'invention, un precurseur polymere est durci, ceci permettant de maintenir une precontrainte dans un polymere electroactif.
Dielectric Elastomers as Electromechanical Transducers, 2008
SPIE Proceedings, 2006
Electroactive Polymer Artificial Muscle (EPAM[R]) technology is becoming a robust, high performan... more Electroactive Polymer Artificial Muscle (EPAM[R]) technology is becoming a robust, high performance, cost effective solution for commercial applications in many sectors. Since its inception in 2004, Artificial Muscle, Inc. (AMI), a spinout company from SRI International, has rigorously pursued the commercialization of this form of artificial muscle technology through innovative designs and fabrication processes, dramatically increasing performance, reliability and manufacturability across a wide variety of applications. Scaleable solutions developed by AMI include air and liquid pumps, valves, linear and angular positioners, rotary motors, sensors and generators. Innovative device designs demonstrating the ability to meet the specifications of demanding applications across broad operating environments and combining practical levels of power densities and actuation lifetimes will be discussed. Integrated electronics control modules allow the freedom to design artificial muscles directly into new or existing product lines while effectively managing the transition from conventional technologies. Simple modular, versatile designs, coupled with low cost industrial materials and flexible automated manufacturing processes, provide a cost effective solution for products serving such diverse industries as consumer electronics, medical devices, and automobiles. Several case examples are presented to illustrate the commercial viability of EPAM[R]-based devices.
Electroactive Polymer Actuators and Devices (EAPAD) 2007, 2007
While Electroactive Polymer Artificial Muscle (EPAM) has been presented extensively as a solution... more While Electroactive Polymer Artificial Muscle (EPAM) has been presented extensively as a solution for actuation and generation technology, EPAM technology can also be used in multiple novel applications as a discrete or integrated sensor. When an EPAM device, an elastic polymer with compliant electrodes, is mechanically deformed, both the capacitance of the EPAM device, as well as the electrode and dielectric resistance, is changed. The capacitance and resistance of the sensor can be measured using various types of circuitry, some of which are presented in this paper. EPAM sensors offer several potential advantages over traditional sensors including operation over large strain ranges, ease of patterning for distinctive sensing capabilities, flexibility to allow unique integration into components, stable performance over a wide temperature range and low power consumption. Some existing challenges facing the commercialization of EPAM sensors are presented, along with solutions describing how those challenges are likely to be overcome. The paper describes several applications for EPAM sensors, such as an integrated diagnostic tool for industrial equipment and sensors for process and systems monitoring.
SPIE Proceedings, 2001
Muscles fulfill several functions within an animal's body. During locomotion they propel and cont... more Muscles fulfill several functions within an animal's body. During locomotion they propel and control the limbs in unstructured environments. Therefore, the functional workspace of muscle needs to be represented by variables describing energy management (i.e. power output, efficiency) as well as control aspects (i.e. stiffness, damping). Muscles in the animal kingdom vary greatly with respect to those variables. To study if ElectroActive Polymer's (EAP) can be considered as artificial muscles we are making a direct comparison between the contractile properties of EAP's and biological muscle. We have measured the functional workspace of EAP actuators using the same setup and techniques that we use to test biological muscle. We evaluated the properties of three different EAP materials; the acrylic and silicone dielectric elastomers developed at 'SRI International' and the high-energy electron-irradiated co-polymers (P(VDF-TrFE)) developed at the MRL laboratory at Penn State University. Initial results indicate that the EAP materials partly capture the functional workspace of natural muscle and sometimes even exceed the capabilities of muscle. Based on the data we have collected it seems that both EAP technologies have characteristics that could qualify them as artificial muscles.
SPIE Proceedings, 2004
Composite materials have increased the range of mechanical properties available to the design eng... more Composite materials have increased the range of mechanical properties available to the design engineer compared with the range afforded by single component materials, leading to a revolution in capabilities. Nearly all commonly used engineering materials, including these composite materials, however, have a great limitation; that is, once their mechanical properties are set they cannot be changed. Imagine a material that
SPIE Proceedings, 2004
Electroelastomers (electroactive elastomers, a.k.a. dielectric elastomers) such as those based on... more Electroelastomers (electroactive elastomers, a.k.a. dielectric elastomers) such as those based on acrylic elastomer films with compliant electrodes, when highly prestrained, exhibited up to 380% electromechanical strain in area expansion at 5 to 6 kV. By rolling highly prestrained acrylic films around a compression spring, multifunctional electroelastomer rolls (MERs, or spring rolls) were obtained that combined load bearing, actuation, and sensing
SPIE Proceedings, 2002
To achieve desirable biomimetic motion, actuators must be able to reproduce the important feature... more To achieve desirable biomimetic motion, actuators must be able to reproduce the important features of natural muscle such as power, stress, strain, speed of response, efficiency, and controllability. It is a mistake, however, to consider muscle as only an energy output device. Muscle is multifunctional. In locomotion, muscle often acts as an energy absorber, variable-stiffness suspension element, or position sensor, for example. Electroactive polymer technologies based on the electric-field-induced deformation of polymer dielectrics with compliant electrodes are particularly promising because they have demonstrated high strains and energy densities. Testing with experimental biological techniques and apparatus has confirmed that these "dielectric elastomer" artificial muscles can indeed reproduce several of the important characteristics of natural muscle. Several different artificial muscle actuator configurations have been tested, including flat actuators and tubular rolls. Rolls have been shown to act as structural elements and to incorporate position sensing. Biomimetic robot applications have been explored that exploit the muscle-like capabilities of the dielectric elastomer actuators, including serpentine manipulators, insect-like flappingwing mechanisms, and insect-like walking robots.
SPIE Proceedings, 2003
Dielectric elastomer artificial muscles (electroelastomers) have been shown to exhibit excellent ... more Dielectric elastomer artificial muscles (electroelastomers) have been shown to exhibit excellent performance in a variety of actuator configurations. By rolling highly prestrained electroelastomer films onto a central compression spring, we have demonstrated multifunctional electroelastomer rolls (MERs) that combine load bearing, actuation, and sensing functions. The rolls are compact, have a potentially high electroelastomer-to-structure weight ratio, and can be configured to actuate in several ways including axial extension and bending, and as multiple degree-of-freedom (DOF) actuators that combine both extension and bending. 1-DOF, 2-DOF, and 3-DOF MERs have all been demonstrated through suitable electrode patterning on a single monolithic substrate. The bending MER actuators can act as leg and knee joints to produce biomimetic walking that is adaptable to many environments. Results of animation and the fabrications of a robot model of a synthetic bug or animal based on the MERs are presented. A new concept for an antagonist actuator for more precise control is introduced.
Electroactive Polymer (EAP) Actuators as Artificial Muscles: Reality, Potential, and Challenges, Second Edition
Electroactive polymers (EAPs) that are suitable for actuators undergo changes in size, shape, or ... more Electroactive polymers (EAPs) that are suitable for actuators undergo changes in size, shape, or stress state upon the application of an electrical stimulus. Much research in the field of EAPs tends to focus on the development and understanding of the polymer materials themselves. However, practical devices require that changes in dimension and stress state be effectively exploited to produce the desired functionalities (e.g., driving the motion of a robot limb or simply changing appearance or surface texture). This chapter focuses on those issues that must be considered in implementing EAP materials in practical devices. For purposes of discussion we will focus on one particular type of electroactive polymer: dielectric elastomers. In the literature [e.g., Liu, Bar-Cohen, and Leary, 1999] and elsewhere in this book, dielectric elastomers are also known as electrostatically stricted polymers. Dielectric elastomers are a type of electronic EAPs as defined in Chapter 1 of this book - in that their operation is based on the electromechanical response of polymer materials to the application of an electric field. They have demonstrated good performance over a range of performance parameters and thus show potential for a wide range of applications. Dielectric elastomers were pioneered by SRI International, but several research groups around the world are actively investigating applications of this technology [e.g., Wingert et al., 2002; Sommer-Larsen et al., 2001; Jeon et al., 2001]. While the principle of operation of dielectric elastomer EAPs is not used with all EAPs, many of the issues we will discuss are common to all. These issues include the high compliance and large strains that EAPs can produce, as well as the necessity of simultaneous consideration of both the electrical properties and mechanical properties of materials. This chapter is organized as follows. First, we consider the specifications used to match actuation technologies with applications, and when it makes sense to consider EAPs. Next, we discuss the basic principles of dielectric elastomer technology. We then consider design issues that may affect the actuation performance of dielectric elastomer EAPs, as well as the operational characteristics of EAPs and how they may affect an application. We present several examples of dielectric elastomer actuators for a wide range of applications, highlighting both the potential advantages of EAPs and the challenges associated with their use. Finally, we conclude with a brief summary of the subchapter and a discussion of the future of EAP application.
A process for forming an electroactive polymer, the method comprising: stretching the electroacti... more A process for forming an electroactive polymer, the method comprising: stretching the electroactive polymer to achieve a prestress in a portion of the polymer; yacoplar a backing layer to a portion of the surface of the polymer when the polymer is pre-tensioned, characterized in that the support layer overlaps with prestressed portion and maintains at least parcialmenteel prestress in the portion.
L'invention concerne des polymeres electroactifs, des transducteurs et des dispositifs qui ma... more L'invention concerne des polymeres electroactifs, des transducteurs et des dispositifs qui maintiennent des precontraintes dans une ou plusieurs parties d'un polymere electroactif. Les polymeres electroactifs peuvent comprendre une partie precontrainte et une partie renforcee, configuree pour maintenir une precontrainte dans une partie precontrainte. Une technique de fabrication applique une precontrainte dans le polymere electroactif partiellement durci. Ledit polymere partiellement durci est ensuite durci pour renforcer et maintenir la precontrainte. Dans une autre technique de fabrication, une couche support est couplee au polymere qui maintient la precontrainte dans une partie du polymere electroactif. Dans un autre mode de realisation de l'invention, un precurseur polymere est durci, ceci permettant de maintenir une precontrainte dans un polymere electroactif.
Dielectric Elastomers as Electromechanical Transducers, 2008
SPIE Proceedings, 2006
Electroactive Polymer Artificial Muscle (EPAM[R]) technology is becoming a robust, high performan... more Electroactive Polymer Artificial Muscle (EPAM[R]) technology is becoming a robust, high performance, cost effective solution for commercial applications in many sectors. Since its inception in 2004, Artificial Muscle, Inc. (AMI), a spinout company from SRI International, has rigorously pursued the commercialization of this form of artificial muscle technology through innovative designs and fabrication processes, dramatically increasing performance, reliability and manufacturability across a wide variety of applications. Scaleable solutions developed by AMI include air and liquid pumps, valves, linear and angular positioners, rotary motors, sensors and generators. Innovative device designs demonstrating the ability to meet the specifications of demanding applications across broad operating environments and combining practical levels of power densities and actuation lifetimes will be discussed. Integrated electronics control modules allow the freedom to design artificial muscles directly into new or existing product lines while effectively managing the transition from conventional technologies. Simple modular, versatile designs, coupled with low cost industrial materials and flexible automated manufacturing processes, provide a cost effective solution for products serving such diverse industries as consumer electronics, medical devices, and automobiles. Several case examples are presented to illustrate the commercial viability of EPAM[R]-based devices.
Electroactive Polymer Actuators and Devices (EAPAD) 2007, 2007
While Electroactive Polymer Artificial Muscle (EPAM) has been presented extensively as a solution... more While Electroactive Polymer Artificial Muscle (EPAM) has been presented extensively as a solution for actuation and generation technology, EPAM technology can also be used in multiple novel applications as a discrete or integrated sensor. When an EPAM device, an elastic polymer with compliant electrodes, is mechanically deformed, both the capacitance of the EPAM device, as well as the electrode and dielectric resistance, is changed. The capacitance and resistance of the sensor can be measured using various types of circuitry, some of which are presented in this paper. EPAM sensors offer several potential advantages over traditional sensors including operation over large strain ranges, ease of patterning for distinctive sensing capabilities, flexibility to allow unique integration into components, stable performance over a wide temperature range and low power consumption. Some existing challenges facing the commercialization of EPAM sensors are presented, along with solutions describing how those challenges are likely to be overcome. The paper describes several applications for EPAM sensors, such as an integrated diagnostic tool for industrial equipment and sensors for process and systems monitoring.
SPIE Proceedings, 2001
Muscles fulfill several functions within an animal's body. During locomotion they propel and cont... more Muscles fulfill several functions within an animal's body. During locomotion they propel and control the limbs in unstructured environments. Therefore, the functional workspace of muscle needs to be represented by variables describing energy management (i.e. power output, efficiency) as well as control aspects (i.e. stiffness, damping). Muscles in the animal kingdom vary greatly with respect to those variables. To study if ElectroActive Polymer's (EAP) can be considered as artificial muscles we are making a direct comparison between the contractile properties of EAP's and biological muscle. We have measured the functional workspace of EAP actuators using the same setup and techniques that we use to test biological muscle. We evaluated the properties of three different EAP materials; the acrylic and silicone dielectric elastomers developed at 'SRI International' and the high-energy electron-irradiated co-polymers (P(VDF-TrFE)) developed at the MRL laboratory at Penn State University. Initial results indicate that the EAP materials partly capture the functional workspace of natural muscle and sometimes even exceed the capabilities of muscle. Based on the data we have collected it seems that both EAP technologies have characteristics that could qualify them as artificial muscles.
SPIE Proceedings, 2004
Composite materials have increased the range of mechanical properties available to the design eng... more Composite materials have increased the range of mechanical properties available to the design engineer compared with the range afforded by single component materials, leading to a revolution in capabilities. Nearly all commonly used engineering materials, including these composite materials, however, have a great limitation; that is, once their mechanical properties are set they cannot be changed. Imagine a material that
SPIE Proceedings, 2004
Electroelastomers (electroactive elastomers, a.k.a. dielectric elastomers) such as those based on... more Electroelastomers (electroactive elastomers, a.k.a. dielectric elastomers) such as those based on acrylic elastomer films with compliant electrodes, when highly prestrained, exhibited up to 380% electromechanical strain in area expansion at 5 to 6 kV. By rolling highly prestrained acrylic films around a compression spring, multifunctional electroelastomer rolls (MERs, or spring rolls) were obtained that combined load bearing, actuation, and sensing
SPIE Proceedings, 2002
To achieve desirable biomimetic motion, actuators must be able to reproduce the important feature... more To achieve desirable biomimetic motion, actuators must be able to reproduce the important features of natural muscle such as power, stress, strain, speed of response, efficiency, and controllability. It is a mistake, however, to consider muscle as only an energy output device. Muscle is multifunctional. In locomotion, muscle often acts as an energy absorber, variable-stiffness suspension element, or position sensor, for example. Electroactive polymer technologies based on the electric-field-induced deformation of polymer dielectrics with compliant electrodes are particularly promising because they have demonstrated high strains and energy densities. Testing with experimental biological techniques and apparatus has confirmed that these "dielectric elastomer" artificial muscles can indeed reproduce several of the important characteristics of natural muscle. Several different artificial muscle actuator configurations have been tested, including flat actuators and tubular rolls. Rolls have been shown to act as structural elements and to incorporate position sensing. Biomimetic robot applications have been explored that exploit the muscle-like capabilities of the dielectric elastomer actuators, including serpentine manipulators, insect-like flappingwing mechanisms, and insect-like walking robots.
SPIE Proceedings, 2003
Dielectric elastomer artificial muscles (electroelastomers) have been shown to exhibit excellent ... more Dielectric elastomer artificial muscles (electroelastomers) have been shown to exhibit excellent performance in a variety of actuator configurations. By rolling highly prestrained electroelastomer films onto a central compression spring, we have demonstrated multifunctional electroelastomer rolls (MERs) that combine load bearing, actuation, and sensing functions. The rolls are compact, have a potentially high electroelastomer-to-structure weight ratio, and can be configured to actuate in several ways including axial extension and bending, and as multiple degree-of-freedom (DOF) actuators that combine both extension and bending. 1-DOF, 2-DOF, and 3-DOF MERs have all been demonstrated through suitable electrode patterning on a single monolithic substrate. The bending MER actuators can act as leg and knee joints to produce biomimetic walking that is adaptable to many environments. Results of animation and the fabrications of a robot model of a synthetic bug or animal based on the MERs are presented. A new concept for an antagonist actuator for more precise control is introduced.
Electroactive Polymer (EAP) Actuators as Artificial Muscles: Reality, Potential, and Challenges, Second Edition
Electroactive polymers (EAPs) that are suitable for actuators undergo changes in size, shape, or ... more Electroactive polymers (EAPs) that are suitable for actuators undergo changes in size, shape, or stress state upon the application of an electrical stimulus. Much research in the field of EAPs tends to focus on the development and understanding of the polymer materials themselves. However, practical devices require that changes in dimension and stress state be effectively exploited to produce the desired functionalities (e.g., driving the motion of a robot limb or simply changing appearance or surface texture). This chapter focuses on those issues that must be considered in implementing EAP materials in practical devices. For purposes of discussion we will focus on one particular type of electroactive polymer: dielectric elastomers. In the literature [e.g., Liu, Bar-Cohen, and Leary, 1999] and elsewhere in this book, dielectric elastomers are also known as electrostatically stricted polymers. Dielectric elastomers are a type of electronic EAPs as defined in Chapter 1 of this book - in that their operation is based on the electromechanical response of polymer materials to the application of an electric field. They have demonstrated good performance over a range of performance parameters and thus show potential for a wide range of applications. Dielectric elastomers were pioneered by SRI International, but several research groups around the world are actively investigating applications of this technology [e.g., Wingert et al., 2002; Sommer-Larsen et al., 2001; Jeon et al., 2001]. While the principle of operation of dielectric elastomer EAPs is not used with all EAPs, many of the issues we will discuss are common to all. These issues include the high compliance and large strains that EAPs can produce, as well as the necessity of simultaneous consideration of both the electrical properties and mechanical properties of materials. This chapter is organized as follows. First, we consider the specifications used to match actuation technologies with applications, and when it makes sense to consider EAPs. Next, we discuss the basic principles of dielectric elastomer technology. We then consider design issues that may affect the actuation performance of dielectric elastomer EAPs, as well as the operational characteristics of EAPs and how they may affect an application. We present several examples of dielectric elastomer actuators for a wide range of applications, highlighting both the potential advantages of EAPs and the challenges associated with their use. Finally, we conclude with a brief summary of the subchapter and a discussion of the future of EAP application.