Actuation Frequency Research Articles

Spontaneous snapping-induced jet flows for fast, maneuverable surface and underwater soft flapping swimmer.

Manta rays use wing-like pectoral fins for intriguing oscillatory swimming. It provides rich inspiration for designing potentially fast, efficient, and maneuverable soft swimming robots, which, however, have yet to be realized. It remains a grand challenge to combine fast speed, high efficiency, and high maneuverability in a single soft swimmer while using simple actuation and control. Here, we report leveraging spontaneous snapping stroke in the monostable flapping wing of a manta-like soft swimmer to address the challenge. The monostable wing is pneumatically actuated to instantaneously snap through to stroke down, and upon deflation, it will spontaneously stroke up by snapping back to its initial state, driven by elastic restoring force, without consuming additional energy. This largely simplifies designs, actuation, and control for achieving a record-high speed of 6.8 body length per second, high energy efficiency, and high maneuverability and collision resilience in navigating through underwater unstructured environments with obstacles by simply tuning single-input actuation frequencies.

A Novel Caterpillar-Inspired Vascular Interventional Robot Navigated by Magnetic Sinusoidal Mechanism

Magnetic soft continuum robots (MSCRs) hold significant potential in fulfilling the requirements of vascular interventional robots, enabling safe access to difficult-to-reach areas with enhanced active maneuverability, shape morphing capabilities, and stiffness variability. Their primary advantage lies in their tether-less actuation mechanism that can safely adapt to complex vessel structures. Existing commercial MSCRs primarily employ a magnetic-pull strategy, which suffers from insufficient driving force and a single actuation strategy, limiting their clinical applicability. Inspired by the inchworm crawling locomotion gait, we herein present a novel MSCR that integrates a magnetic sinusoidal actuation mechanism with adjustable frequency and kirigami structures. The developed MSCRs consist of two permanent magnets connected by a micro-spring, which is coated with a silicone membrane featuring a specific notch array. This design enables bio-inspired crawling with controllable velocity and active maneuverability. An analytical model of the magnetic torque and finite element analysis (FEA) simulations of the MSCRs has been constructed. Additionally, the prototype has been validated through two-dimensional in-vitro tracking experiments with actuation frequencies ranging from 1 to 10 Hz. Its stride efficiency has also been verified in a three-dimensional (3D) coronary artery phantom. Diametrically magnetized spherical chain tip enhances active steerability. Kirigami skin is coated over the novel guidewire and catheter, not only providing proximal anchorage for improved stride efficiency but also serving similar function as a cutting balloon. Under the actuation of an external magnetic field, the proposed MSCRs demonstrate the ability to traverse bifurcations and tortuous paths, indicating their potential for dexterous flexibility in pathological vessels.

Performance evaluation of the static thrust and efficiency of an actuated biomimetic jellyfish model

Abstract This study offers an in-depth analysis of a jellyfish-inspired robotic model designed to simulate the expansion and contraction mechanisms found in natural jellyfish. By employing variable Duty Cycles to replicate the cyclic motions of the jellyfish, the thrust generation of the model is measured through static thrust assessments using a load cell, while its efficiency is evaluated using the Thrust-to-Power Ratio, TPR. The findings indicate that increasing the amplitude of the motion leads to more complex wave patterns, which in turn reduce the peak-to-peak force generated. Specifically, a 25% increase in the A/D ratio results in a significant 30% decrease in static thrust. It was observed that higher actuation frequencies do not notably influence thrust generation when the A/D ratio remains constant. Importantly, the TPR was found to be highest at an A/D ratio of 0.10, with an increase of up to 6% observed at higher Duty Cycles, suggesting that smaller actuation amplitudes are more efficient in enhancing thrust performance. These results highlight the critical role of amplitude in the efficiency of static thrust generation within a given Duty Cycle, emphasizing that lower amplitudes generally lead to higher efficiency. The study underscores the importance of optimizing both geometric and kinematic parameters for improved propulsion performance. It suggests that future research should focus on fine-tuning A/D ratios and Duty Cycles, as well as exploring alternative geometric configurations and materials to further enhance the hydrodynamic performance of jellyfish-inspired robots. The insights gained from this study provide a valuable foundation for developing more efficient and effective bio-inspired underwater vehicles.

Frequency-Controlled Fluidic Oscillators for Soft Robots.

Electronic-free controls have recently emerged as one of the main topics in soft robotics. However, electronic-free fluidic circuits still lack controllability and reconfigurability to achieve different functions. Here, reconfigurable pneumatic valves that widen the design space of fluidic circuits are presented. The significance of two parameters on the valve's operation: a pre-defined manufacturing parameter that sets the initial operational range of the valve, and a second, on-the-fly modifiable geometric parameter that shifts the behavior of the valve during operation is shown. It is demonstrated that equipping the valve with these reconfigurable features enables the tuning of fluidic oscillatory circuits as illustrated by two examples: a frequency-controlled relaxation oscillator and a reconfigurable ring oscillator. The relaxation oscillator is employed to control the actuation frequency of a soft hopper, which is able to achieve 80 to 125 hops min-1 and a hopping speed ranging from ≈1 to ≈1.185 BL s-1. Additionally, the reconfigurable ring oscillator is used to demonstrate how each output frequency can be controlled independently, via a soft robotic crawler that can navigate in three directions, and a volume-controlled fluidic pump able to achieve mixing of solutions in environments where electronic components cannotoperate.

GAIT PATTERN INVESTIGATIONS OF BIONIC PIEZOELECTRIC ROBOT

The development of micro-robots based on bionic motion has garnered increasing attention with the advancement of bionic technology. These micro-robots can be employed in various tasks, such as military applications, disaster search and rescue, in vivo drug delivery, minimally invasive surgery, and tumor treatment. Robot joint motion is commonly achieved through actuators, which encompass motor, hydraulic, or pneumatic components that often carry excessive weight. To achieve the goal of miniaturizing robotic mechanisms, innovative actuators need to be developed. This study focuses on designing a four-limbed micro-robot that utilizes piezoelectric actuators. Automatic Dynamic Analysis of the Mechanical System is employed to investigate the kinematic aspects of the micro-robot’s motion, and finite element analysis is also used to obtain the resonant characteristics of the limbs actuated by piezoelectric bimorphs. The results indicate that the gait pattern of a piezoelectric robot changes according to the walking strategy and the robot dimension. The forward travel speed varies depending on the gait pattern, and adjustments in gait design can reduce the up/down oscillation and right/left offset. The robot’s travel speed increases with both trunk and limb length, although longer thigh and leg lengths might lead to greater offset and vertical oscillation. The resonant frequency and mode shapes change with the limb structure and affect the limb motion style. By adjusting the driving frequency of the bimorph actuators, the gait pattern can be manipulated. The information presented in this study contributes to a deeper understanding of micro-robot design.

Dissimilar Resistance Welding of NiTi Microwires for High-Performance SMA Bundle Actuators

Shape memory alloys (SMAs) are becoming a more important factor in actuation technology. Due to their unique features, they have the potential to save weight and installation space as well as reduce energy consumption. The system integration of the generally small-diameter NiTi wires is an important cornerstone for the emerging technology. Crimping, a common method for the mechanical and electrical connection of SMA wires, has several drawbacks when it comes to miniaturization and high-force outputs. For high-force applications, for example, multiple SMA wires in parallel are needed to keep actuation frequencies high while scaling up the actuation force. To meet these challenges, the proposed study deals with the development of a resistance-welding process for manufacturing NiTi wire bundles. The wires are welded to a sheet metal substrate, resulting in promising functional properties and high joint strengths. The welding process benefits from low costs, easy-to-control parameters and good automation potential. A method for evaluating the resistance-welding process parameters is presented. With these parameters in place, a manufacturing process for bundled wire actuators is discussed and implemented. The welded joints are examined by peel tests, microscopy and fatigue experiments. The performance of the manufactured bundle actuators is demonstrated by comparison to a single wire with the same accumulated cross-sectional area.

Study on micro electrochemical milling with programmable dynamic eccentric rotating electrode

Micro electrochemical machining (ECM) has the advantages of non-contact machining, no tool loss and no residual stress, and has great development potential in the field of microstructure manufacturing. However, the micron-scale machining gap is difficult to renew and discharge the electrolyte and electrolytic products in time. In this paper, a novel micro ECM with programmable dynamic eccentric rotating electrode (DER-ECM) is proposed, which can effectively improve the discharge of electrolytic products in the machining area. According to the process characteristics, a disc flexure hinge structure with one-stage amplification was designed, which was driven by a piezo-ceramic actuator, and the programmable eccentricity ranging from 0 to 20 μm. The multi-physics model of flow field and electric field of DER-ECM, micro ECM with eccentric rotating electrode (ER-ECM) and micro ECM with rotating electrode (R-ECM) were established. The theoretical simulation results showed that the flow rate generated by DER-ECM at the bottom of the electrode is 97 times that of ER-ECM. The current density generated by DER-ECM showed periodic pulsation, and the pulsation period was determined by the driving frequency of the piezo-ceramic actuator. The experimental results showed that DER-ECM could effectively eliminate the surface spike of the workpiece in the bottom machining area and effectively improve the machining accuracy. The micro-groove widths obtained under DER-ECM, ER-ECM and R-ECM were 418 μm, 446 μm and 468 μm, respectively. In addition, the influence of three types of dynamic eccentric rotation electrode trajectories on DER-ECM was studied. The experimental results showed that the sawtooth dynamic eccentric rotation electrode had better machining accuracy. Theoretical simulation and experimental results showed that DER-ECM could improve the flow field and achieve higher machining efficiency and machining localization.

Virtual Dynamic Vibration Absorber Trap Fusion Active Vibration Suppression Algorithm Based on Inertial Actuators for Large Flexible Space Trusses

This paper presents a virtual dynamic vibration absorber (DVA) trap fusion active vibration suppression algorithm based on inertial actuators as a solution to the harmonic vibration control problem of large flexible space trusses. Firstly, the mechanism of the inertial actuator is analyzed, and the relationship between the bandwidth of the algorithm and the intrinsic frequency of the inertial actuator is derived. Secondly, a dynamic model of the space truss is constructed. Subsequently, an analysis is conducted to determine the manner in which the virtual DVA exerts influence on the system’s dynamic characteristics. Based on this analysis, a virtual DVA trap fusion active vibration suppression algorithm is designed. Finally, the efficacy of the proposed algorithm in suppressing vibration is demonstrated through experimentation. The algorithm was demonstrated to be effective in suppressing both single-frequency harmonic vibration and multi-frequency harmonic vibration under the working conditions of single-degree-of-freedom and multi-degree-of-freedom of a flexible truss. The vibration suppression efficiency was found to be greater than 60%. It is therefore evident that the proposed algorithm has the potential to be applied to the vibration suppression of telescopes assembled in orbit in the future.

High-precision ultrasonic atomization using oscillating microchannels: Interplay of three-dimensional vibrational modes and droplet ejection mechanisms

Ultrasonic atomization is a critical process for producing micrometer-diameter droplets, widely utilized in aerosol drug delivery, spectrometry, and printing. The geometry of the vessel containing the fluid being atomized and the oscillations of its sidewalls play a crucial role in controlling the wave patterns and hence the droplet ejection process, especially at actuation frequencies exceeding 1 MHz. However, the mechanisms behind droplet ejection under high-frequency ultrasonic actuation remain poorly understood. We employ oscillating high-aspect-ratio Silicon microchannels to create ideal conditions where capillary forces, microchannel geometry, and oscillatory motion work together to precisely confine a liquid film and generate droplets with controlled diameters. We show that the three-dimensional vibrations of the microchannels, particularly the interplay between actuation frequency, amplitude, and channel geometry, can be used to effectively tune the ligament development and droplet breakup. This understanding allows us to establish conditions to reduce actuation power and hence minimize heating, control shear stresses and tune the droplet size on-demand without compromising uniformity and throughput.

Untethered soft magnetic pump for microfluidics-based Marangoni surfer

Microfluidics has enabled the miniaturization of fluidic systems for various biomedical and industrial applications, including small-scale robotic propulsion. One mechanism for generating propulsive force through microfluidics is by exploiting the solutal Marangoni effect via releasing surfactant on the air-water interface. Surfactants locally reduce the surface tension, which leads to a surface stress that can propel the floating robot, called Marangoni surfer. However, so far the release of the surfactant is not controllable. In this study, we combine microfluidics-based Marangoni propulsion with a novel untethered magnetic pumping mechanism to enhance its controllability. The proposed magnetic micropump capitalizes on the interaction force between two soft magnets, which can generate a pumping force of 4.64 mN to actuate a membrane, and achieve a deformation of 450 μm. Net flow is achieved using a nozzle/diffuser flow rectifier whose efficacy as a function of the channel geometry is numerically studied. We investigate the flow rate of the pump with regard to the actuation frequency. Finally, we demonstrate its ability to control the motion of the Marangoni surfer.

Magnetic Control of Soft Microrobots Near Step-Out Frequency: Characterization and Analysis

Magnetically actuated soft microrobots hold promise for biomedical applications that necessitate precise control and adaptability in complex environments. These microrobots can be accurately steered below their step-out frequencies where they exhibit synchronized motion with external magnetic fields. However, the step-out frequencies of soft microrobots have not been investigated yet, as opposed to their rigid counterparts. In this work, we develop an analytic model from the magneto-elastohydrodynamics to establish the relationship between the step-out frequency of soft sperm-like microrobots and their magnetic properties, geometry, wave patterns, and the viscosity of the surrounding medium. We fabricate soft sperm-like microrobots using electrospinning and assess their swimming abilities in mediums with varying viscosities under an oscillating magnetic field. We observe slight variations in wave patterns of the sperm-like microrobots as the actuation frequency changes. Our theoretical model, which analyzes these wave patterns observed without exceeding the step-out threshold, quantitatively agrees with the experimentally measured step-out frequencies. By accurately predicting the step-out frequency, the proposed model lays a foundation for achieving precise control over individual soft microrobots and enabling selective control within a swarm when executing biomedical tasks.

Human-in-the-loop control of dynamics and robotics using augmented reality

Human-machine interaction (HMI) and human-robot interaction (HRI) offer innovative approaches for the analysis of structural dynamics both in laboratory and real-world scenarios. In vibratory experimentation, an external force is generated to evaluate dynamic responses of structures. One mode of generation is to use electrodynamic shakers. Sensors are attached to the structure to measure dynamic responses and can be deployed by robots. In post-disaster inspections robotic deployment ensures the safety of inspectors and requires control. If the interface between operators and the controls was augmented, then operators can visualize experiments, exciter levels, and define robot input while maintaining awareness of the area of interest. Robots can provide better aid to humans if control of the robot is: (1) quantified and presented to the human; and (2) conducted in real-time for human feedback. This research proposes using Augmented Reality (AR) to provide operators with sensor feedback and control for analysis of dynamic structures with robots. This method improves cognition by allowing the operator to maintain awareness of structures while adjusting conditions accordingly with the assistance of the new real-time interface. One interface application is developed to plot sensor data in addition to voltage, frequency, and duration controls for vibration simulations. Two more applications are developed following the same framework, one to control the position of a mediating robot and one to control the frequency of the robot's movement. The applications serve as a first-step approach investigating potential robotic sensor deployment in disaster assessment of structures. This paper presents the proposed model for the new vibratory control loop and then compares the new approach with a traditional method by measuring time delay in control input. The study also demonstrates that AR enhances time efficiency and accuracy in controlling robotic arm positions, matching actuator frequencies, and deploying sensors with minimal time delay.

Development of a pump-jet piezoelectric swimmer with acoustic radiation actuation

The acoustofluidic actuation produced by piezoelectric transducer is capable of propelling micro underwater robots forward, yet the motion pattern is relatively simplistic. To solve this problem, a pump-jet swimmer with a combination of the underwater acoustic radiation effect is proposed in this work. The absorption and discharge of internal piezoelectric pump provide the linear forward power, and turning is achieved under the acoustic propulsive force of the external dual piezoelectric actuators. The working mode and optimal driving frequency of the piezoelectric actuators are determined through finite element simulation and mechanical vibration characteristic tests. And the key dimensional parameters of the piezoelectric pump are optimized in the light of the output flow measurements. Finally, a prototype with the size of Ф3.1 cm × 12 cm is fabricated for underwater driving performance experiments, which demonstrated well functions in straight swimming, turning, and loading. The swimmer with 20 g of additional load achieves a maximum speed of 105 mm s−1at the voltage of 180 Vp-p, it also completes the obstacle avoidance in water along a certain path. The rationality of this conceived actuation mechanism is preliminarily verified, which shows a potential for fixed-point transportation in the complex underwater situations.

Experimental evaluation of the flow field induced by an active vortex generator

This investigation examined the flow field generated by a ramp-shaped vortex generator (VG) that underwent active oscillation within a laminar boundary layer. The oscillations were applied through a servomotor, which pivoted the VG around its leading edge. The study evaluated the influence of varying the maximum VG height during the oscillations (h), actuation frequency (f), and the waveform governing the periodic oscillation of the VG. Planar particle image velocimetry (PIV) measurements were conducted to estimate flow mixing and the drag induced by the VG. The height-based Reynolds number (Reh) ranged from 300 to 600, and the chord-based Strouhal number (Stc) for the oscillations varied from 0.67 to 3.33. The findings of the study indicate that active VGs lead to a greater wall-normal transport of streamwise momentum and result in lower drag compared to static VGs. Furthermore, increasing h results in larger momentum transport and drag of the active VGs. The investigation also revealed that the highest momentum transport and drag occurred when f was close to the instability frequency of the shear layer. The results show the potential of active VGs for separation control under various flow conditions.

MagnetoStalsis: Generating Peristalsis in an Artificial Bowel for Treatment of Short Bowel Syndrome

Efforts to develop an artificial intestine for treatment of short bowel syndrome have thus far failed to achieve coordinated peristalsis. To address this, we introduce an implantable, biomimetic, magnetically-actuated peristaltic pumping apparatus. The system consists of a magnetic pump surrounding an intestinal graft and a rotating external magnetic field generator that produces peristaltic motion in the graft as the field direction alternates. We performed computational finite element modeling to simulate deformation and stress concentration on the pump. We then tested the ability of the system to produce fluid flow through porcine subintestinal submucosa at actuation frequencies from 0 Hz to 4 Hz. The system achieved a maximal flow rate of 6.03 mL/min at 3 Hz actuation frequency, which is in the physiological range of human intestinal flow rates. This device represents a novel proof-of-concept for achieving untethered peristalsis in an implantable intestinal graft that is primed for preclinical testing in animal models of short bowel syndrome.

Hydrodynamic force characterization and experiments of underwater piezoelectric flexible structure

The unsteady hydrodynamics of underwater flexible structures internally actuated by smart materials are drawing growing attention. In this study, the dynamic measurement and characterization of hydrodynamic forces acting on flexible structures actuated by macro fiber composites (MFC) are performed. A measurement system composed of a cantilevered transducer and a laser sensor is proposed for dynamically acquiring the induced hydrodynamic force. The parameter indexes of the measurement system are carefully determined to achieve the requirements of high resolution, high sensitivity and good anti-interference of the designed measurement system. Calibration experiments demonstrate the good measuring performances. Then, the relationship between the hydrodynamic force and the actuation frequency is explored using the data obtained from the designed measurement system. Moreover, by decomposing the measured hydrodynamic force, it is found that the added mass component shares similar behaviors with the hydrodynamic force, whereas the hydrodynamic damping component initially increases and then decreases across the explored ranges. Finally, manageable formulas for these components in the forms of hydrodynamic function are developed, and explicit expressions for the Morison’s formula are obtained. These findings are meaningful for the realization of flexible structures with the actuation of smart materials in marine applications.

Design, development, and testing of active valve piezo-hydraulic pump

Valves play a major role in rectifying the fluid flow through piezo-hydraulic pumps, which may be active or passive. Passive valves operate due to changes in the fluid pressure whereas active valves are operated through control signals. This paper presents a novel design of an active valve chamber assembly for a piezo-hydraulic pump. It is a novel design since none of the research publications has addressed the application of a Flexurally amplified piezoelectric actuator (FAPA) for valve actuation in active valve chamber assembly. The piezo-hydraulic pump design is done using solid edge design software. FAPA’s are used for pumping and valve actuation. Structural analysis with experimental verification for the valve chamber component is presented. The valve opening and the pumping displacement are mathematically modeled in MATLAB Simulink software. Also, mathematical simulations for pump flow rates at different actuation frequencies and voltage are discussed. The piezo-hydraulic pump components are fabricated and assembled with the actuators. Experimental investigations on the flow rate performance of the active valve piezo-hydraulic pump are carried out with changing frequency and voltage amplitude of actuators. The interpretation of results is done by comparing the experimental and simulation results. During experiments, the pump delivered a maximum flow rate of 4.5 ml min−1 at 140 V when actuated at 0.25 Hz actuation frequency.

Electromagnetic effects on the solidification of a metallic alloy droplet impacting onto a surface

The effect of magnetic fields on the solidification of a droplet impacting a substrate, and its potential for controlling the topology and properties of the final solidified splat, has not been explored thus far. In this research, we conduct a computational study on the solidification of a metallic alloy droplet impacting onto a substrate under the influence of a magnetic field, for the first time. Our model undergoes rigorous assessments through a systematic procedure to avoid error-hiding of different sub-models. We investigate the effects of applying direct and alternating magnetic fields with different Strouhal numbers (or dimensionless frequencies). Our findings demonstrate that MagnetoHydroDynamics (MHD) can effectively control the shape of the frozen splat upon impact. Depending on the interplay between the inertia and capillary forces as well as the MHD braking and shaking effects (damping and oscillating Lorentz forces), we achieve a hemispherical, oblate, prolate, or cupcake solidified splat topology. Additionally, we identify a critical Strouhal number at which the solidified splat-shape parameters reach an extremum. Our analyses reveal two distinct causes underlying this phenomenon at low or moderate Weber numbers. At low Weber numbers, the resonance triggered by the proximity of the MHD actuation frequency and the capillary natural frequency of the splat is the determining factor. On the other hand, at the higher Weber numbers, the severe droplet regime changes and instability play a key role.

A spray-cooling based antagonistic SMA actuator (SCASA) with low resistance consumption and high driving frequency

Owing to the large strain output and high power-to-weight ratio, using temperature-induced shape memory alloy (SMA) springs in the form of antagonistic actuators offers the opportunity to develop simple, lightweight, and multi-mode robotic systems. Currently, the capabilities and deep application of these robotic systems are hindered by the relatively large resistance consumption and limited driving frequency of the antagonistic SMA actuators, primarily attributed to the cooling rate of SMA. In this paper, a spray-cooling based antagonistic SMA actuator (SCASA) was proposed, aiming to address the existing challenges in antagonistic SMA actuators. Theoretical modeling of the SCASA was comprehensively investigated. Experimental findings highlight the superior cooling efficacy of the spray-cooling method, attaining a cooling rate surpassing 100 °C per second for a single SMA spring. Using the spray-cooling based method, the driving frequency of a single SMA spring is approximately twice that of the forced-air cooling method. Experimental results also demonstrate the superior performance of the SCASA using the spray-cooling method, resulting in a reduction of approximately 50% in resistance consumption and an increase of approximately 40% in driving frequency compared to the forced-air method. This work elucidates the promising application prospects of the spray-cooling method in SMA actuators.

Interpersonal Transmission of Vibrotactile Feedback via Smart Bracelets: Mechanics and Perception.

The importance of interpersonal touch for social well-being is widely recognized, and haptic technology offers a promising avenue for augmenting these interactions. We presented smart bracelets that use vibrotactile feedback to augment social interactions, such as handshakes, by transmitting vibrations between two people. This work conducts mechanical and perceptual experiments to investigate key factors affecting the delivery of interpersonal vibrotactile feedback via bracelets. Our results show that low-frequency vibrations elicited through tangential actuation are efficiently transmitted from the wrist to the hand, with amplitude varying based on distance, frequency, and actuation direction. We also found that vibrations transmitted to different locations on the hand can be felt by a second person, with perceptual intensity correlated with oscillation magnitude at the touched location. Additionally, we demonstrate how wrist-interfaced devices can elicit spatial vibration patterns throughout the hand surface, which can be manipulated by the frequency and direction of actuation at the wrist. Our experiments provide important insights into the human factors associated with interpersonal vibrotactile feedback and have significant implications for the design of technologies that promote social well-being.