Kirigami artificial muscles with complex biologically inspired morphologies (original) (raw)
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Swimming like algae: biomimetic soft artificial cilia
Journal of The Royal Society Interface, 2012
Cilia are used effectively in a wide variety of biological systems from fluid transport to thrust generation. Here, we present the design and implementation of artificial cilia, based on a biomimetic planar actuator using softsmart materials. This actuator is modelled on the cilia movement of the alga Volvox, and represents the cilium as a piecewise constant-curvature robotic actuator that enables the subsequent direct translation of natural articulation into a multi-segment ionic polymer metal composite actuator. It is demonstrated how the combination of optimal segmentation pattern and biologically derived per-segment driving signals reproduce natural ciliary motion. The amenability of the artificial cilia to scaling is also demonstrated through the comparison of the Reynolds number achieved with that of natural cilia.
Algorithms
Ionic polymer-metal composites (IPMCs) are electrically driven materials that undergo bending deformations in the presence of relatively low external voltages, exhibiting a great potential as actuators in applications in soft robotics, microrobotics, and bioengineering, among others. This paper presents an artificial eukaryotic flagellum (AEF) swimming robot made up of IPMC segments for the study of planar wave generation for robot propulsion by single and distributed actuation, i.e., considering the first flagellum link as an actuator or all of them, respectively. The robot comprises three independent and electrically isolated actuators, manufactured over the same 10 mm long IPMC sheet. For control purposes, a dynamic model of the robot is firstly obtained through its frequency response, acquired by experimentally measuring the flagellum tip deflection thanks to an optical laser meter. In particular, two structures are considered for such a model, consisting of a non-integer order ...
Poly-Saora robotic jellyfish: swimming underwater by twisted and coiled polymer actuators
Smart Materials and Structures, 2020
Jellyfish are energy-efficient swimmers due to the muscle-powered flapping of their soft bell that facilitates a unique energy recapture mechanism. In this paper, we present a bio-inspired jellyfish robot named Poly-Saora that mimics the swimming behavior of the jellyfish species Black sea nettle (Chrysaora achlyos). An assembly-based fabrication method is used to create the Poly-Saora that is developed mainly with polymeric materials (95% of the robot by volume). Twisted and coiled polymer (TCP) actuators are successfully implemented in this robot and show great potential for underwater applications. The influence of different parameters such as the amplitude of the input power, the actuation frequency, and the lifecycle of the actuator are investigated underwater. A full characterization of 6-ply TCP muscles is demonstrated. An actuation strain of ∼10 % is achieved in water at a frequency of 0.1Hz and 50 kPa load. When integrated into the jellyfish, the TCP was able to bend a single bell by 17˚. Poly-Saora was able to swim a vertical distance of 180 mm in 220 s with four TCP actuators each confined in a separate conduit. The robot mimics the swimming behavior of a real jellyfish by contracting the bell segments through the activation of the actuators, which generates forced water circulation under the bell in a pulsating rhythm, consequently creating a vertical movement of the robot. Overall, Poly-Saora is presenting a model of an underwater system that is driven by stimuli-responsive polymer materials and has unique advantages over conventional rigid robots due to their lightweight, muscle-like structures, silent actuation and ease of manufacturing. This robot can be used for safe interaction with other underwater species and their natural habitats when fully developed.
A swimming robot actuated by living muscle tissue
Journal of neuroengineering and rehabilitation, 2004
Biomechatronics is the integration of biological components with artificial devices, in which the biological component confers a significant functional capability to the system, and the artificial component provides specific cellular and tissue interfaces that promote the maintenance and functional adaptation of the biological component. Based upon functional performance, muscle is potentially an excellent mechanical actuator, but the larger challenge of developing muscle-actuated, biomechatronic devices poses many scientific and engineering challenges. As a demonstratory proof of concept, we designed, built, and characterized a swimming robot actuated by two explanted frog semitendinosus muscles and controlled by an embedded microcontroller. Using open loop stimulation protocols, the robot performed basic swimming maneuvers such as starting, stopping, turning (turning radius ~400 mm) and straight-line swimming (max speed >1/3 body lengths/second). A broad spectrum antibiotic/ant...
Biomimetic Compliant System for Smart Actuator-Driven Aquatic Propulsion: Preliminary Results
Aerospace, 2003
Biomimetic design takes principles from nature to employ in engineering problems. Such designs are hoped to be quiet, efficient, robust, and versatile, having taken advantage of optimization via natural selection. However, the emulation of specific biological devices poses a great challenge because of complicated, arbitrary, and over-redundant designs. Compliant mechanisms are of immediate appeal in addressing the problem of complex, biomimetic deformation because of their inherent flexibility and distributed compliance. The goal of this research is to develop a biologically-inspired hydrofoil for aquatic propulsion, by assembling planar compliant mechanism building blocks to generate complex 3-D deformations. The building block is a rib structure generated from topology optimization. An ADAMS model is then created to quickly visualize motion and estimate system characteristics. System refinement is achieved through further size and shape optimization of individual ribs. Testing of a single-rib and dual-actuator system is currently in progress. The preliminary results have demonstrated the potential of this combined approach to quickly identify and evaluate new applications that may result from building blocks.
Bioinspiration & Biomimetics, 2013
The quest for swimming microrobots originates from possible applications in medicine, especially involving navigation in bodily fluids. Swimming microorganisms have become a source of inspiration because their propulsion mechanisms are effective in the low-Reynolds number regime. In this study, we address a propulsion mechanism inspired by metachronal waves, i.e. the spontaneous coordination of cilia leading to the fast swimming of ciliates. We analyze the biological mechanism (referring to its particular embodiment in Paramecium caudatum), and we investigate the contribution of its main features to the swimming performance, through a three-dimensional finiteelements (FE) model, in order to develop a simplified, yet effective artificial design. We propose a bioinspired propulsion mechanism for a swimming microrobot based on a continuous cylindrical electroactive surface exhibiting perpendicular wave deformations travelling longitudinally along its main axis. The simplified propulsion mechanism is conceived specifically for microrobots that embed a micro-actuation system capable of executing the bioinspired propulsion (self-propelled microrobots). Among the available electroactive polymers (EAPs), we select Polypyrrole (PPy) as the possible actuation material and we assess it for this particular embodiment. The results are used to appoint target performance specifications for the development of improved or new electroactive materials to attain metachronal-waves-like propulsion.
Ionic and Capacitive Artificial Muscle for Biomimetic Soft Robotics
We report here the development of an actuator with an ionic electroactive polymer (IEAP) laminate that is exclusively designed to exhibit a combination of high electrically induced strain and high bending modulus. The newly constructed laminate is one of the few IEAPs meeting the requirements for use in miniature soft robotics. The laminate has activated carbon-based electrodes and ionic liquid is used as an electrolyte. Layers of compliant gold foil are used as current collectors. The superior performance of the IEAP laminate is demonstrated by constructing a centimeter-scale robot propelled by a single IEAP actuator. The cyclic locomotion of the robot is inspired by the movements of an inchworm, while the IEAP laminate is used concurrently as an actuator and a structural member. The 830-mg robot is able to crawl on a smooth surface in open air, solely by undulation of its body. The microprocessor-controlled robot has an on-board lithium battery and uses a pulse-width-modulated signal to drive the IEAP actuator. The robot is able to carry its own power supply and even an extra payload. The constructed biomimetic robot is distinctive for the use of a non-planar actuator whose shape is programmed during the manufacturing process.
A Biomimetic, Swimming Soft Robot Inspired by the Octopus Vulgaris
Lecture Notes in Computer Science, 2012
This paper describes a first prototype of a cephalopod-like biomimetic aquatic robot. The robot replicates the ability of cephalopods to travel in the aquatic environment by means of pulsed jet propulsion. A number of authors have already experimented with pulsed jet thrusting devices in the form of traditional piston-cylinder chambers and oscillating diaphragms. However, in this work the focus is placed in designing a faithful biomimesis of the structural and functional components of the Octopus vulgaris, hence the robot is shaped as an exact copy of an octopus and is composed, to a major extent, of soft materials. In addition, the propelling mechanism is driven by a compression/expansion cycle analogous to that found in cephalopods. This work offers a hands-on experience of the swimming biomechanics of chephalopods and an insight into a yet unexplored new mode of aquatic propulsion.
Monitoring, sensing, and exploration of over 70% of the Earth’s surface that is covered with water is permitted through the deployment of underwater bioinspired robots without affecting the surrounding natural habitat. To create a soft robot actuated with soft polymeric actuators, this paper describes the development of a lightweight jellyfish-inspired swimming robot, which achieves a maximum vertical swimming speed of 7.3 mm/s (0.05 body length/s) and is characterized by a simple design. The robot, named Jelly-Z, utilizes a contraction-expansion mechanism for swimming similar to the motion of a Moon jellyfish. To better understand the characteristics of this motion, FSI flow simulation, and particle image velocimetry (PIV) tests were conducted to study the wake structure from the robot’s bell margin. The thrust generated by the robot was also characterized with a force sensor to ascertain the force and cost of transport (COT) at different input currents. Jelly-Z is the first robot ...
Bioinspired design and fabrication principles of reliable fluidic soft actuation modules
2015 IEEE International Conference on Robotics and Biomimetics (ROBIO), 2015
A large percentage of the field of robotics is devoted to catching up to what nature can already do. Taking inspiration from the snake and the jumping spider, we describe advances towards standardized modular multi-material composite soft pneumatic actuator design and fabrication. Previous pneumatic bi-directional bending actuators used in our soft robotic snake suffered from repeatability challenges and were prone to bursting in the seams. Here, we present a standardized fabrication method of soft pneumatic actuators to reduce the seams and incorporate a more reliable port for the input pressure. In addition, we explore the integration of our flexible curvature sensor, allowing for less invasive proprioceptive sensing of the actuator state. Finally, taking inspiration from jumping spider legs we also propose a plastic exoskeleton system, which can guide soft actuators to form complex shapes when pressurized. We show that all of these actuators were consistent and reliable over numerous trials. The next step is to combine these individual actuators into their respective bioinspired robotic systems: a soft modular snake and a soft jumping spider.