Abstract
We examine electrically conductive fabrics as conductive heaters for heat-activated soft actuators. We have explored various fabric designs optimized for material properties, heat distribution and actuation/de-actuation characteristics of the soft actuators. We implemented this approach in the silicone/ethanol composite actuators, in which ethanol undergoes a thermally-induced phase change, leading to high actuation stress and strain. Various types of conductive fabrics were tested, and we developed a stretchable kirigami-based fabric design. We demonstrate a fabric heater that is capable of cyclic heating of the actuator to the required 80 °C. The fabric with the special kirigami design can withstand temperatures of up to 195 °C, can consume up to 30 W of power, and allows the actuator to reach >30% linear strain. This technology may be used in various systems involving thermally-induced actuation.
Highlights
Precise and flexible actuation is currently of interest in the fields of hybrid robotics [1], assistive living devices [2], and medical applications through the use of soft robotic actuators [3]
The materials investigated in this study had to meet stringent requirements to be considered for the application of performing as a Joule heater in a soft actuator
The heater will burn out or fail before the actuator can fully actuate. Another critical requirement is that the conductive fabrics must be able to reach the desired temperature at a low current and voltage, meaning that the material resistivity and heating element geometry are critical considerations
Summary
Precise and flexible actuation is currently of interest in the fields of hybrid (soft and rigid) robotics [1], assistive living devices [2], and medical applications through the use of soft robotic actuators [3]. Assimilation of soft components into pre-existing robotic operating systems, such as a pick and place arm, creates hybrid robotic platforms that can perform complex grasping manipulation tasks with acceptable levels of precision [1]. To assist patients overcoming spinal cord injury with activities of daily living, soft robotic gloves with pneumatic elastomer actuators have been implemented, improving hand functionality by 33.42 ± 15.43% based on participant scores of object manipulation tests [2]. Soft tethered pneumatic artificial muscle sleeves have been designed to provide an assistive mechanical cardiac function for patients with heart failure [3]. Electroactive gels and dielectric actuators use electrodes to electrically stimulate a polymer or soft dielectric material [4]
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