Actuation Patterns Research Articles

Wearable Haptics for Orthotropic Actuation Based on Perpendicularly Nested Auxetic SMA Knotting.

Smart wearable tactile systems, designed to deliver different types of touch feedback on human skin, can significantly improve engagement through diverse actuation patterns in virtual or augmented reality environments. Here, a perpendicularly nested auxetic wearable haptic interface is reported for orthotropically decoupled multimodal actuation (WHOA), capable of producing diverse tactile feedback modes with 3D sensory perception. WHOA incorporates shape memory alloy wires that are intricately knotted into an auxetic structure oriented along orthotropic dual axes. Its perpendicularly nested auxetic structure enables orthotropic actuation, allowing independent expansion and contraction along both x and y-axes, as confirmed by force-strain and displacement-time performance tests. Additionally, the perylene coating provides orthogonal electrical isolation to WHOA, allowing for stripe-specific localized actuation and enabling multiple tactile feedback modes. As an orthotropic wearable haptic interface, WHOA distinguishes between x-axis and y-axis directions and ultimately delivers multi-dimensional information regarding movements in 3D space through tactile feedback. As a result, when worn on the foot or arm, WHOA naturally delivers spatiotemporal tactile information to the user, facilitating navigation and teleoperation with 3D sensory perception.

Enhancing Flow Separation Control Using Hybrid Passive and Active Actuators in a Matrix Configuration

Efficient control of flow separation holds significant economic promise. This study investigates flow separation mitigation using an experimental platform featuring a combination of passive and active actuators arranged in a matrix configuration. The platform consists of 5 × 6 hybrid actuator units, each integrating a height-adjustable vortex generator and a micro-jet actuator. Inspired by the distributed pattern of V-shaped scales on shark skin, these actuator units are strategically deployed in a matrix configuration to reduce flow separation on a backward-facing ramp. Distributed pressure taps encircling the hybrid actuators monitor the flow state. Parametric analyses examine the effect of different control strategies. By adopting appropriate passive and active actuation patterns, effective pressure recovery on the ramp surface can be achieved. The most significant flow control outcome occurs when the actuators operate under combined active and passive excitation, harnessing the benefits of both control strategies. Particle image velocimetry (PIV) results confirm a notable reduction in flow separation under the best-controlled case. These findings suggest a promising future for flow control devices employing combined passive and active actuation in matrix-like configurations.

Stiffness Change for Reconfiguration of Inflated Beam Robots.

Abstract Active control of the shape of soft robots is challenging. Despite having an infinite number of passive degrees of freedom (DOFs), soft robots typically only have a few actively controllable DOFs, limited by the number of degrees of actuation (DOAs). The complexity of actuators restricts the number of DOAs that can be incorporated into soft robots. Active shape control is further complicated by the buckling of soft robots under compressive forces; this is particularly challenging for compliant continuum robots due to their long aspect ratios. In this study, we show how variable stiffness enables shape control of soft robots by addressing these challenges. Dynamically changing the stiffness of sections along a compliant continuum robot selectively "activates" discrete joints. By changing which joints are activated, the output of a single actuator can be reconfigured to actively control many different joints, thus decoupling the number of controllable DOFs from the number of DOAs. We demonstrate embedded positive pressure layer jamming as a simple method for stiffness change in inflated beam robots, its compatibility with growing robots, and its use as an "activating" technology. We experimentally characterize the stiffness change in a growing inflated beam robot and present finite element models that serve as guides for robot design and fabrication. We fabricate a multisegment everting inflated beam robot and demonstrate how stiffness change is compatible with growth through tip eversion, enables an increase in workspace, and achieves new actuation patterns not possible without stiffening.

Noise mitigation in rectangular jets through plasma actuator-based shear layer control

A computational analysis is performed to study the three-dimensional response of rectangular shear layers to plasma actuator-based control, in the context of sound mitigation of supersonic non-axisymmetric jets. A Mach $1.5$ rectangular jet with an aspect ratio $2:1$ is controlled using experimentally informed actuation patterns, referred to as M0, M1, M2, M3, M ${\rm \pi}$ and M+/ $-$ 1. While the first five progressively increase the phase difference between successive actuators thus enhancing three-dimensionality of the shear layer structures, the latter corresponds to the flapping mode of the jet. A preliminary linear analysis identifies that the frequency, $St\sim 1$ , has a relatively high overall amplification within the baseline shear layer, and is hence utilized for control in the subsequent nonlinear simulations. Each actuation reveals unique near-field vortical and acoustic responses that have a profound impact on far-field noise levels. The M0 actuation induces circumferentially interconnected strong streamwise vortices, while M1 actuation enhances the circumferential variability in the coherent structures. The M2 actuation encompasses both these effects, and along with a very low tonal impact of forcing, produces the most desirable far-field noise mitigation ( ${\sim }2.6\,{\rm dB}$ ), contributed by a broadband reduction around the column-mode peak of the baseline jet. Beyond M2 actuation, effectiveness of control saturates, particularly along the direction of peak noise radiation. Through a near-field analysis of the acoustic component, the efficacy of M2 actuation is attributed to the attenuation of the radiative efficiency of the jet, including reduced energy in the supersonic phase speeds, and redistribution of energy into the higher helical modes. Further, it curtails the nonlinear difference interactions in the plume that energize column-mode frequencies, which often appear as strong intermittent sound-producing events. While the shear layer turbulent kinetic energy decreases with actuation, the controlled jets show minimal variations in mean flow properties, particularly under M2 actuation, suggesting this to be a promising small-perturbation-based noise control strategy.

Programming Deformations of 3D Microstructures: Opportunities Enabled by Magnetic Alignment of Liquid Crystalline Elastomers.

Synthetic structures that undergo controlled movement are crucial building blocks for developing new technologies applicable to robotics, healthcare, and sustainable self-regulated materials. Yet, programming motion is nontrivial, and particularly at the microscale it remains a fundamental challenge. At the macroscale, movement can be controlled by conventional electric, pneumatic, or combustion-based machinery. At the nanoscale, chemistry has taken strides in enabling molecularly fueled movement. Yet in between, at the microscale, top-down fabrication becomes cumbersome and expensive, while bottom-up chemical self-assembly and amplified molecular motion does not reach the necessary sophistication. Hence, new approaches that converge top-down and bottom-up methods and enable motional complexity at the microscale are urgently needed. Synthetic anisotropic materials (e.g., liquid crystalline elastomers, LCEs) with encoded molecular anisotropy that are shaped into arbitrary geometries by top-down fabrication promise new opportunities to implement controlled actuation at the microscale. In such materials, motional complexity is directly linked to the built-in molecular anisotropy that can be "activated" by external stimuli. So far, encoding the desired patterns of molecular directionality has relied mostly on either mechanical or surface alignment techniques, which do not allow the decoupling of molecular and geometric features, severely restricting achievable material shapes and thus limiting attainable actuation patterns, unless complex multimaterial constructs are fabricated. Electromagnetic fields have recently emerged as possible alternatives to provide 3D control over local anisotropy, independent of the geometry of a given 3D object. The combination of magnetic alignment and soft lithography, in particular, provides a powerful platform for the rapid, practical, and facile production of microscale soft actuators with field-defined local anisotropy. Recent work has established the feasibility of this approach with low magnetic field strengths (in the lower mT range) and comparably simple setups used for the fabrication of the microactuators, in which magnetic fields can be engineered through arrangement of permanent magnets. This workflow gives access to microstructures with unusual spatial patterning of molecular alignment and has enabled a multitude of nontrivial deformation types that would not be possible to program by any other means at the micron scale. A range of "activating" stimuli can be used to put these structures in motion, and the type of the trigger plays a key role too: directional and dynamic stimuli (such as light) make it possible to activate the patterned anisotropic material locally and transiently, which enables one to achieve and further program motional complexity and communication in microactuators. In this Account, we will discuss recent advances in magnetic alignment of molecular anisotropy and its use in soft lithography and related fabrication approaches to create LCE microactuators. We will examine how design choices-from the molecular to the fabrication and the operational levels-control and define the achievable LCE deformations. We then address the role of stimuli in realizing the motional complexity and how one can engineer feedback within and communication between microactuator arrays fabricated by soft lithography. Overall, we outline emerging strategies that make possible a completely new approach to designing for desired sets of motions of active, microscale objects.

Online Diagnosis and Self-Recovery of Faulty Cells in Daisy-Chained MEDA Biochips Using Functional Actuation Patterns

Online Diagnosis and Self-Recovery of Faulty Cells in Daisy-Chained MEDA Biochips Using Functional Actuation Patterns

DLP 4D Printing of Multi‐Responsive Bilayered Structures

AbstractAdvances in soft robotics strongly rely on the development and manufacturing of new responsive soft materials. In particular, light‐based 3D printing techniques, and especially, digital light processing (DLP), offer a versatile platform for the fast manufacturing of complex 3D/4D structures with a high spatial resolution. In this work, DLP all‐printed bilayered structures exhibiting reversible and multi‐responsive behavior are presented for the first time. For this purpose, liquid crystal elastomers (LCEs) are used as active layers and combined with a printable non‐responsive elastomer acting as a passive layer. Furthermore, selective light response is incorporated by embedding various organic dyes absorbing light at different regimes in the active layers. An in‐depth characterization of the single materials and printed bilayers demonstrates a reversible and selective response. Last, the versatility of the approach is shown by DLP printing a bilayered complex 3D structure consisting of four different materials (a passive and three different LCE active materials), which exhibit different actuation patterns when irradiated with different wavelengths of light.

Nafion-Pt IPMC electroactive behavior changes in response to environmental nonequilibrium conditions

Electroactive polymers (EAPs) continue to gain attention for their potential to offer unique and versatile solutions in the soft robotic and flexible electronic industries. Ionic polymer-metal composites (IPMCs) are a class of ionic-type EAPs which can be configured as capacitor actuators with very low voltage requirements (⩽5 V AC or DC). Their compact, portable, and lightweight properties, coupled with a biomimetic bending actuation response make them ideal for human-machine integrated technologies such as medical implants, active skins, and artificial muscles. This work tested the IPMC’s actuation and electrical response in varying saturation conditions (70% RH, 85% RH, 95% RH, and DI water liquid immersion) and voltage application schemes (direct current voltage (DCV) cycled, continuously applied, and relaxation responses upon voltage removal). This information was then used to establish actuation and back-relaxation response patterns through repetitive testing for statistical certainty. These demonstrated maximized actuation in water vapor conditions where the IPMC’s dielectric permittivity is maximized (), and the dissipation factor is minimized (). The response trends in vapor conditions are gradual but yield larger actuation ranges with increasing hydration. Liquid immersion restricts the IPMC’s range of motion but produces a sharper response pattern. These trends were validated against previously published IPMC actuator models. All of this creates a more pragmatic perspective on the potential of this technology which aids in the advancement of this material’s evolution towards viable real-world application configurations which capitalize on the material’s natural responses.

An Investigation on the Effect of Actuation Pattern on the Power Consumption of Legged Robots for Extraterrestrial Exploration

Legged robots have great potential to be extraterrestrial exploration rovers of extraordinary versatility. Minimizing power consumption is of vital importance in the scenarios of extraterrestrial explorations. The actuation pattern, which refers to the combination of necessary actuators that output torque, has a significant influence on the power consumption of legged robots. This article seeks to investigate the effect of actuation patterns on the power consumption of legged robots that perform motion in a quasi-static manner. The power consumption model of legged robots considering actuation patterns is deduced. Based on that, the effect of the actuation pattern on mechanical power and heat power, which are the main power-loss terms, is investigated. The lowest power consumption under various conditions achieved by different actuation patterns is investigated. Simulation results show that the power consumption can be reduced by choosing the actuation pattern properly. Furthermore, the principles of selecting the optimal actuation pattern from the perspective of power consumption are summarized, which are expected to facilitate the minimal power consumption motion planning of legged robots.

Multiphase Actuation of AC Electrothermal Micropump

Electrothermal micropumps apply an AC electric field to a conductive fluid within the range of 10 kHz–1 MHz to generate fluid flow. In this frequency range, coulombic forces dominate fluid interactions over opposing dielectric forces, resulting in high flow rates (~50–100 μm/s). To date, the electrothermal effect—using asymmetrical electrodes—has been tested only with single-phase and 2-phase actuation, while dielectrophoretic micropumps have shown improved flow rates with 3- and 4-phase actuation. Simulating muti-phase signals in COMSOL Multiphysics requires additional modules and a more involved implementation to accurately represent the electrothermal effect in a micropump. Here, we report detailed simulations of the electrothermal effect under multi-phase conditions, including single-phase, 2-phase, 3-phase and 4-phase actuation patterns. These computational models indicate that 2-phase actuation leads to the highest flow rate, with 3-phase resulting in a 5% reduced flow rate and 4-phase resulting in an 11% reduced flow rate compared to 2-phase. With these modifications to the simulation, various actuation patterns can later be tested in COMSOL for a range of electrokinetic techniques.

Topology-Dependent pH-Responsive Actuation and Shape Memory Programming for Biomimetic 4D Printing.

Biomimetic actuators are critical components of bionics research and have found applications in the fields of biomedical devices, soft robotics, and smart biosensors. This paper reports the first study of nanoassembly topology-dependent actuation and shape memory programming in biomimetic 4D printing. Multi-responsive flower-like block copolymer nanoassemblies (vesicles) were utilized as photocurable printing materials for digital light processing (DLP) 4D printing. The flower-like nanoassemblies enhanced thermal stability attributed to their surface loop structures on the shell surfaces. Actuators prepared from these nanoassemblies displayed topology-dependent bending in response to pH and temperature programmable shape memory properties. Biomimetic octopus-like soft actuators were programmed with multiple actuation patterns, large bending angles (∼500 °), excellent weight to lift ratios (∼60), and moderate response time (∼5min). Thus, nanoassembly topology-dependent and shape-programmable intelligent materials were successfully developed for biomimetic 4D printing. This article is protected by copyright. All rights reserved.

Review of Soft Actuators Controlled with Electrical Stimuli: IPMC, DEAP, and MRE

Soft actuators have been developed for a variety of applications, including soft grippers, artificial muscles, wearables, tactile devices, and medical devices. In this review, we will discuss a group of chemical materials and their robotic applications in soft actuators controlled with electrical stimuli. Soft actuators provide a deformable body and allow interaction with the environment to achieve the desired actuation pattern. We will also discuss the principles of operation and functionality and focus on important real-life applications of three groups of soft actuators: ionic polymer–metal composites (IPMCs), dielectric electroactive polymers (DEAPs), and magnetorheological elastomers (MREs). This review article aims to provide researchers interested in the field of soft robotics with a guide to various state-of-the-art chemistry methods used in electrically activated soft actuators, as well as the application areas for such devices.

Active control of coupling and its effect on near-field pressure fluctuations in supersonic rectangular twin jets

Supersonic rectangular twin jets (SRTJ) are of interest for current and future generations of tactical aircraft. However, the adverse effects of screech-loop coupling have previously been documented to significantly increase the near-field (NF) pressure fluctuations. These high-amplitude pressure fluctuations have the potential to fatigue and damage nearby aft components of the aircraft. Previous studies have documented that the NF pressure fluctuation level depends on the coupling of the jets: in-phase coupling along the twin jets’ minor axes produces stronger NF pressure fluctuations than that of out-of-phase coupling. The objective of this work is to further investigate the effects of coupling modes on NF pressure fluctuations in SRTJ and to mitigate the adverse effects of coupling using active flow control. Localized arc filament plasma actuators are employed to alter the SRTJs’ coupling mode by leveraging natural flow instabilities with minimal power input. A NF microphone array is used for simultaneous coupling and NF pressure fluctuation measurements. Schlieren imaging and spectral proper orthogonal decomposition are used to assess the effects of control on the flow field. The effect of excitation at various frequencies and actuation patterns on coupling and NF pressure fluctuations in different flow regimes are explored and discussed.

Networking of Block Copolymer Nanoassemblies via Digital Light Processing Four-Dimensional Printing for Programmable Actuation

Controls over stimuli-responsive functional materials and programmable shape deformations are key features in the four-dimensional (4D) printing of soft actuators. Instead of using random copolymers, homopolymers, or natural polymers, this paper reports the first use of amphiphilic, photocurable, and pH-responsive block copolymer (BCP) nanoassemblies in digital light processing (DLP) 4D printing to fabricate smart and programmable soft actuators. Programmable actuation was studied via a bottom-up approach: (1) designed synthesis of pH-responsive BCPs, (2) nanoassembly structures of BCPs, and (3) networking of nanoassemblies via the photocuring process in DLP. As a proof-of-concept, bilayered grippers, ring-shaped actuators, and octopus-like actuators were programmed to produce a range of bending angles and actuation patterns. pH-responsive BCP nanoassemblies were also combined with commercially available three-dimensional printing liquid resin (PlasClear) to produce stimulus-responsive printing ink that was successfully used for 4D printing applications. Thus, smart and programmable materials were developed for 4D printing applications.

A soft robotic sleeve mimicking the haemodynamics and biomechanics of left ventricular pressure overload and aortic stenosis.

Preclinical models of aortic stenosis can induce left ventricular pressure overload and coarsely control the severity of aortic constriction. However, they do not recapitulate the haemodynamics and flow patterns associated with the disease. Here we report the development of a customizable soft robotic aortic sleeve that can mimic the haemodynamics and biomechanics of aortic stenosis. By allowing for the adjustment of actuation patterns and blood-flow dynamics, the robotic sleeve recapitulates clinically relevant haemodynamics in a porcine model of aortic stenosis, as we show via in vivo echocardiography and catheterization studies, and a combination of in vitro and computational analyses. Using in vivo and in vitro magnetic resonance imaging, we also quantified the four-dimensional blood-flow velocity profiles associated with the disease and with bicommissural and unicommissural defects re-created by the robotic sleeve. The design of the sleeve, which can be adjusted on the basis of computed tomography data, allows for the design of patient-specific devices that may guide clinical decisions and improve the management and treatment of patients with aortic stenosis.

Co-Design of the Morphology and Actuation of Soft Robots for Locomotion

Abstract In recent years, the field of soft robotics has received considerable attention due to its potential in increasing the safety of human-robot interaction. The design of soft robots possesses great challenges. For example, the longstanding challenge of co-design morphology and actuation makes designing them by hand a trial-and-error process. Earlier work presented by the authors proposes a computational design synthesis (CDS) method for the automated design of virtual, soft locomotion robot morphologies. This work extends the CDS method for morphologies with the automated co-design of actuation. Two methods are considered. In the first method, the actuation of designs is described by parametric actuation curves (PACs) that model feedforward actuation patterns. For every morphology in the design process, a set of PACs is optimized that assumes symmetric and cyclic gaits. The second method, soft actor-critic (SAC) reinforcement learning, removes this assumption as well as models feedback control for comparison. Adding PAC optimization to the CDS method is shown to improve the performance of the resulting designs and to achieve better results within less design iterations. SAC is, however, deemed less effective, due to the need for design specific problem tuning for each new morphology. The SAC experiments also show that the best found soft robot gaits are symmetric and cyclic, although this is not a constraint in the SAC problem formulation, thus verifying the assumptions made in the PAC formulation. To validate the search space modeled in the co-design CDS method, a state-of-the-art soft robot is replicated and compared.

Multimodal microwheel swarms for targeting in three-dimensional networks

Microscale bots intended for targeted drug delivery must move through three-dimensional (3D) environments that include bifurcations, inclined surfaces, and curvature. In previous studies, we have shown that magnetically actuated colloidal microwheels (µwheels) reversibly assembled from superparamagnetic beads can translate rapidly and be readily directed. Here we show that, at high concentrations, µwheels assemble into swarms that, depending on applied magnetic field actuation patterns, can be designed to transport cargo, climb steep inclines, spread over large areas, or provide mechanical action. We test the ability of these multimodal swarms to navigate through complex, inclined microenvironments by characterizing the translation and dispersion of individual µwheels and swarms of µwheels on steeply inclined and flat surfaces. Swarms are then studied within branching 3D vascular models with multiple turns where good targeting efficiencies are achieved over centimeter length scales. With this approach, we present a readily reconfigurable swarm platform capable of navigating through 3D microenvironments.

Redundancy and overactuation in cephalopod-inspired soft robot arms

Current soft robotic arms commonly follow traditional—i.e. hard—robot design conventions. Omnidirectional soft arms most commonly consist of segments that contain three parallel longitudinal actuators, or actuator groups, of which one or two are activated to induce bending. This design uses the minimum number of actuators required for omnidirectional bending, which is consistent with traditional robot design but unnecessarily constrains the soft arm design space. The cephalopods that frequently inspire soft robot arms have tens of bundles of longitudinal muscle fibers, and these bundles are distributed around the limb circumference rather than grouped. This article analyzes fluid-driven soft arm architectures with up to 12 actuators, which mimics the redundant and distributed nature of cephalopod arms and tentacles, in order to investigate the performance implications of an arm morphology closer to nature. Overactuation (i.e. activating more than two actuators) was considered, which is possible because soft robots—unlike traditional robots—can tolerate misaligned or partially opposed actuation without jamming. A previously-developed generalizable model was used to simulate design performance, and a subset of the examined architectures were constructed and tested. Many-actuator soft arms achieve high strokes under equivalent load and equivalent actuation pressures, without sacrificing no-load reach. These arms are also able to achieve quasi-omnidirectionality, as well as to execute near constant-curvature turns using a simple actuation pattern and a single pressure signal. The introduced framework also enables non-circular cross sections that are not possible with minimalist arm designs, allowing the load capacity and reach to be tuned in multiple directions. Several elliptical cross section arms were analyzed to explore the potential of non-circular cross sections. Overactuated, many-actuator arms significantly expand the design space of soft arms, improving performance in some cases and introducing options to tailor behavior that are infeasible in structurally minimal arms.

Optimal control of the multi-module vibration-driven locomotion robot

The vibration-driven robot utilizes the periodic inertia force from the oscillator to realize locomotion. Because its movement does not rely on wheels or legs, the robot's body can be designed very neatly for working in restricted circumstances such as pipeline inspection and post-disaster rescue. Because high mobility is essential in these applications, the issue of actuation design to maximize the robot's average locomotion velocity emerges. Distinct from parameter optimization at given actuation patterns, the present paper represents the actuation design as the problem of optimal control and constructs an evolutionary algorithm to solve it. First, taking advantage of the periodicity, the internal actuation is represented as the Fourier series with the unknown period, harmonic coefficients, and phase shifts. Then, the multi-objective evolutionary algorithm based on decomposition (MOEA/D) is employed to optimize the unknown multi-parameters. Numerical results show that the optimal actuation of the one-module robot with isotropic friction is consistent with existing theoretical solutions, which verifies the correctness and practicability of our general scheme. Further explorations of the multi-module robot reveal that the optimal actuation continuously degenerates from the three-phase pattern to the two-phase when the friction ratio gradually attenuates to zero. Most importantly, although the optimal actuation phase shift between adjacent robot modules has been commonly accepted as half of the actuation period, the proposed scheme finds that the average velocity indeed maintains the maximum within a certain phase margin. As can be expected, this robustness will relax the burden of sophisticated actuation tuning in practice.

Redundancy and overactuation in cephalopod-inspired soft robot arms.

Current soft robotic arms commonly follow traditional - i.e., hard - robot design conventions. Omnidirectional soft arms most commonly consist of segments that contain three parallel longitudinal actuators, or actuator groups, of which one or two are activated to induce bending. This design uses the minimum number of actuators required for omnidirectional bending, which is consistent with traditional robot design but unnecessarily constrains the soft arm design space. The cephalopods that frequently inspire soft robot arms have tens of bundles of longitudinal muscle fibers, and these bundles are distributed around the limb circumference rather than grouped. This article analyzes fluid-driven soft arm architectures with up to 12 actuators, which mimic the redundant and distributed nature of cephalopod arms and tentacles. Over-constraints (activating more than two actuators) were considered, which are possible because soft robots - unlike traditional robots - can tolerate conflicting constraints without jamming. A previously-developed generalizable model was used to simulate design performance, and a subset of the examined architectures were constructed and tested. Many-actuator soft arms achieved high strokes under equivalent load without sacrificing no-load reach and were able to execute near constant-curvature turns with a simple actuation pattern. The framework introduced here also enables cross section variations that are not possible with minimalist designs.