Actuator Unit Research Articles

Teleoperation in robot-assisted MIS with adaptive RCM via admittance control

AbstractThis paper presents the development and assessment of a teleoperation framework for robot-assisted minimally invasive surgery (MIS). The framework leverages our novel integration of a previously developed adaptive remote center of motion (RCM) using admittance control. This framework operates within a redundancy resolution method specifically designed for the RCM constraint. We introduce a compact, low-cost, and modular custom-designed instrument module (IM) that ensures integration with the manipulator, featuring a force/torque sensor, a surgical instrument, and an actuation unit for driving the surgical instrument. The paper details the complete teleoperation framework, including the telemanipulation trajectory mapping, kinematic modelling, control strategy, and the integrated admittance controller. Finally, the system’s capability to perform various surgical tasks was demonstrated, including passing a thread through the rings, picking and placing objects, and trajectory tracking.

Evaluation of the Working Mechanism of a Newly Developed Powered Ankle–Foot Orthosis

Ankle–foot orthoses (AFOs) are commonly prescribed to children with cerebral palsy (CP). The conventional AFO successfully controls the first and second ankle rocker, but it fails to correct the third ankle rocker, which negatively effects push-off power. The current study evaluated a new powered AFO (PAFO) design, developed to address the shortcomings of the conventional AFO. Eight children with spastic CP (12.4 ± 3.4 years; GMFCS I-III; 4/4-♂/♀; 3/5-bi/unilateral) were included. Sagittal kinematic and kinetic data were collected from 20 steps during barefoot walking, with conventional AFOs and PAFOs. In the PAFO-condition, an actuation unit was attached to a hinged AFO and through push–pull cables to a backpack that was carried by the child and provided patient-specific assistance-as-needed. SnPM-analysis indicated gait cycle sections that differed significantly between conditions. For the total group, differences between the three conditions were found in ankle kinematics (49.6–66.1%, p = 0.006; 88.0–100%, p = 0.011) and angular velocity (0.0–6.0%, p = 0.001; 45.1–51.1%, p = 0.006; 62.2–73.0%, p = 0.001; 81.2–93.0%, p = 0.001). Individual SnPM-analysis revealed a greater number of significant gait cycle sections for kinematics and kinetics of the ankle, knee, and hip. These individual results were heterogeneous and specific per gait pattern. In conclusion, the new PAFO improved the ankle range-of-motion, angular velocity, and power during push-off in comparison to the conventional AFO.

Reconfigurable, Transformable Soft Pneumatic Actuator with Tunable Three-Dimensional Deformations for Dexterous Soft Robotics Applications.

Numerous soft actuators based on pneumatic network (PneuNet) design have already been proposed and extensively employed across various soft robotics applications in recent years. Despite their widespread use, a common limitation of most existing designs is that their action is predetermined during the fabrication process, thereby restricting the ability to modify or alter their function during operation. To address this shortcoming, in this article the design of a Reconfigurable, Transformable Soft Pneumatic Actuator (RT-SPA) is proposed. The working principle of the RT-SPA is analogous to the conventional PneuNet. The key distinction between the two lies in the ability of the RT-SPA to undergo controlled transformations, allowing for more versatile bending and twisting motions in various directions. Furthermore, the unique reconfigurable design of the RT-SPA enables the selection of actuation units with different sizes to achieve a diverse range of three-dimensional deformations. This versatility enhances the RT-SPA's potential for adaptation to a multitude of tasks and environments, setting it apart from traditional PneuNet. The article begins with a detailed description of the design and fabrication of the RT-SPA. Following this, a series of experiments are conducted to evaluate the performance of the RT-SPA. Finally, the abilities of the RT-SPA for locomotion, gripping, and object manipulation are demonstrated to illustrate the versatility of the RT-SPA across different aspects.

AlScN-based quasi-static multi-degree-of-freedom piezoelectric MEMS micromirror with large mirror plate and high fill factor

A quasi-static multi-degree-of-freedom piezoelectric MEMS micromirror with large mirror plate and high fill factor based on AlScN is presented. It consists of two individual components, namely the mirror plate and the actuator. They are fabricated separately and vertically assembled together to form the final combination. In current case, a square mirror plate with side length of 5 mm is used. The actuator is designed into a gimbal-less structure, which involves a central connection platform with a mounting hole and four groups of piezoelectric actuators that are connected to the platform's corners via serpentine springs. This configuration provides multi-degree-of-freedom driving capabilities, allowing tip-tilt-piston mirror movement. The piezoelectric actuator is composed of three-stage cantilever-type actuation units that are connected in series, and they are intentionally arranged into S-shape so as to be completely hidden beneath the mirror plate. Moreover, the driving performance is further improved by optimizing the electrode coverage region on each actuation unit. As a result, not only large displacement but also nearly 100 % fill factor as well as high optical utilization efficiency can be achieved. From experimental results, the as-fabricated MEMS micromirror demonstrates static mechanical tilt angles of approximately ±2.2° about two orthogonal axes and piston vertical movement of ±54.9 μm within ±50 VDC driving voltage range with excellent linearity. Given the large mirror size, high fill factor and multi-degree-of-freedom motion advantages, the proposed micromirror could be found application perspective in light field shaping, free space optical communication and projection lithography areas.

THD improvement of piezoelectric MEMS speakers by dual cantilever units with well-designed resonant frequencies

In this study, a piezoelectric MEMS (Micro-Electro-Mechanical-System) speaker with thoughtfully selected resonant frequencies of dual cantilever units is designed and implemented. Based on the lead zirconium titanate (PZT) thin film with superior piezoelectric coefficient, the cantilever diaphragm is designed through the modal analysis. In the 1.5 mm by 1.5 mm cantilever array, a high-frequency actuation unit with resonance of 13.1 kHz and a low-frequency actuation unit with resonance of 6.35 kHz constitute the proposed piezoelectric MEMS speaker. The boost of sound pressure level (SPL) due to the resonant mode of low-frequency actuation unit reduces the total harmonic distortion (THD) around the subharmonic frequency of high-frequency actuation unit. Meanwhile, the asymmetric triangle diaphragm reduces the maximum stress in the structure when operating at the resonant frequency, thereby mitigating the THD spikes resulting from the nonlinear structural behavior. In pressure-field measurements, the proposed design can reach SPL ≥ 70.0 dB from 2.7 kHz to 15.0 kHz with only 0.179 Vrms input. At the same time, THD remains below 3.0 % from 3.2 kHz to 20 kHz. The outstanding performance under larger input signal and bias voltage is also verified. Actuated by 0.354 Vrms and 2 VDC bias, the maximum SPL achieves 111.9 dB and the SPL is higher than 80.0 dB from 3.3 kHz to 14.1 kHz. Furthermore, THD is lower than 3.0 % from 1.0 kHz to 8.9 kHz. A promising solution of piezoelectric MEMS speaker for in-ear applications is demonstrated in this study.

Design and evaluation of a pneumatic actuation unit for a wasp-inspired self-propelled needle.

Transperineal laser ablation is a minimally invasive thermo-ablative treatment for prostate cancer that requires the insertion of a needle for accurate optical fiber positioning. Needle insertion in soft tissues may cause tissue motion and deformation, resulting in tissue damage and needle positioning errors. In this study, we present a wasp-inspired self-propelled needle that uses pneumatic actuation to move forward with zero external push force, thus avoiding large tissue motion and deformation. The needle consists of six parallel 0.25-mm diameter Nitinol rods driven by a pneumatic actuation system. The pneumatic actuation system consists of Magnetic Resonance (MR) safe 3D-printed parts and off-the-shelf plastic screws. A self-propelled motion is achieved by advancing the needle segments one by one, followed by retracting them simultaneously. The advancing needle segment has to overcome a cutting and friction force, while the stationary needle segments experience a friction force in the opposite direction. The needle self-propels through the tissue when the friction force of the five stationary needle segments overcomes the sum of the friction and cutting forces of the advancing needle segment. We evaluated the prototype's performance in 10-wt% gelatin phantoms and ex vivo porcine liver tissue inside a preclinical Magnetic Resonance Imaging (MRI) scanner in terms of the slip ratio of the needle with respect to the phantom or liver tissue. Our results demonstrated that the needle was able to self-propel through the phantom and liver tissue with slip ratios of 0.912-0.955 and 0.88, respectively. The prototype is a promising step toward the development of self-propelled needles for MRI-guided transperineal laser ablation as a method to treat prostate cancer.

A comparison of two piezoelectric actuator concepts for fast mechanical switching in DC hybrid circuit breakers.

Amplified piezoelectric actuators have gained considerable attention due to their inherent advantages, including rapid response, reliability, and efficiency, making them promising candidates for Direct Current (DC) switching applications. They can operate in two distinct operational modes: Block-Free (B-F) and Free-Free (F-F) configurations. These two modes offer diverse mechanical constraints and are chosen based on the application's specific requirements. This study aims to present a comparative assessment between the two modes to evaluate each configuration's applicability in DC fast switching. Accordingly, the principle behind each actuation scheme was illustrated, and both designs were modeled and analyzed by the finite element method. Subsequently, two prototypes were assembled, each resembling a different operational mode. The established prototypes were then subjected to actuation and interruption tests to investigate their travel and switching performances. Comparative results revealed that while block-free could deliver a higher apparent stroke, the accumulated gap for each configuration is almost the same. Both actuators demonstrated high capability when utilized as actuation units for fast vacuum mechanical switches integrated into a hybrid circuit breaker for DC interruption. However, the free-free operation excelled in terms of fast response, as it managed to clear the mimicked fault current faster than the block-free configuration.

Dynamic synergies in cable-driven exosuits for gait assistance

Exosuits for the lower limb have developed rapidly as an affordable, light, and more cost-effective alternative to the bulkier, traditional exoskeletons. The synergy-based approach aims at further emphasizing such advantages, providing even lighter and cheaper solutions, thanks to its reduction in actuators and the subsequent simplification of the actuation unit. In this paper, a design approach based on dynamic synergies is proposed to reduce the number of required actuators, thus decreasing the price and weight of walking-assistance exosuits. Also, in this work, we propose a methodology to calculate motor torque output and cable forces during assisted gait. Mechanical designs for the actuation unit are proposed along with experimental and computer-based testing and simulation. Lastly, actuation units with one and two motors are studied and compared, regarding control, mechanical complexity, and metabolic cost reduction. The results show that dynamic synergies can indeed contribute to the design of these assistive devices, with its own set of advantages and disadvantages when compared to the previously proposed postural synergies: while the latter led to a higher cumulative variance of the first principal component and the transmission system is simpler, control may be more unpredictable and forces upon the system, harder to estimate. With dynamic synergies, more related to muscle synergies, metabolic benefit on users may be more significant.

Research on DC switching based piezoelectric actuator

Piezoelectric actuators provide several advantages, including rapid response time, travel control, high resolution and actuation efficiency. They are a good candidate for actuating mechanical switches designed for electrical circuit breakers. This study investigates the utilisation of an Amplified Piezoelectric Actuator (APA) in Block-Free (B-F) operational mode as an actuation unit for a Fast-Mechanical Switch (FMS) and an Ultra-Fast Disconnector (UFD) to be utilised in a DC Hybrid Circuit Breaker (HCB). Initially, the principle and construction of the piezoelectric actuator actuating scheme were described and illustrated. A Finite Element Analysis (FEA) model was built to simulate and analyse the presented switch/disconnector static and dynamic behaviours. A prototype was constructed based on calculations, and the travel characteristics were experimentally validated. Subsequently, the proposed switch/disconnector was insulated once in a vacuum and later in a nitrogen gas interruption chamber. Both arrangements were integrated into a DC Hybrid Circuit Breaker test platform to investigate their interruption features. Results show that the presented switch/disconnector achieved a total gap of approximately 1 mm in 1.4 ms and interrupted a DC power of 0.6 kV/60 A within 0.85–1.5 ms in vacuum and 0.98–1.45 ms in nitrogen gas.

A portable inflatable soft wearable robot to assist the shoulder during industrial work.

Repetitive overhead tasks during factory work can cause shoulder injuries resulting in impaired health and productivity loss. Soft wearable upper extremity robots have the potential to be effective injury prevention tools with minimal restrictions using soft materials and active controls. We present the design and evaluation of a portable inflatable shoulder wearable robot for assisting industrial workers during shoulder-elevated tasks. The robot is worn like a shirt with integrated textile pneumatic actuators, inertial measurement units, and a portable actuation unit. It can provide up to 6.6 newton-meters of torque to support the shoulder and cycle assistance on and off at six times per minute. From human participant evaluations during simulated industrial tasks, the robot reduced agonist muscle activities (anterior, middle, and posterior deltoids and biceps brachii) by up to 40% with slight changes in joint angles of less than 7% range of motion while not increasing antagonistic muscle activity (latissimus dorsi) in current sample size. Comparison of controller parameters further highlighted that higher assistance magnitude and earlier assistance timing resulted in statistically significant muscle activity reductions. During a task circuit with dynamic transitions among the tasks, the kinematics-based controller of the robot showed robustness to misinflations (96% true negative rate and 91% true positive rate), indicating minimal disturbances to the user when assistance was not required. A preliminary evaluation of a pressure modulation profile also highlighted a trade-off between user perception and hardware demands. Finally, five automotive factory workers used the robot in a pilot manufacturing area and provided feedback.

Reconfigurable modular soft robots with modulating stiffness and versatile task capabilities

Soft robots have revolutionized machine interactions with humans and the environment to enable safe operations. The fixed morphology of these soft robots dictates their mechanical performance, including strength and stiffness, which limits their task range and applications. Proposed here are modular, reconfigurable soft robots with the capabilities of changing their morphology and adjusting their stiffness to perform versatile object handling and planar or spatial operational tasks. The reconfiguration and tunable interconnectivity between the elemental soft, pneumatically driven actuation units is made possible through integrated permanent magnets with coils. The proposed concept of attaching/detaching actuators enables these robots to be easily rearranged in various configurations to change the morphology of the system. While the potential for these actuators allows for arbitrary reconfiguration through parallel or serial connection on their four sides, we demonstrate here a configuration called ManusBot. ManusBot is a hand-like structure with digits and palm capable of individual actuation. The capabilities of this system are demonstrated through specific examples of stiffness modulation, variable payload capacity, and structure forming for enhanced and versatile object manipulation and operations. The proposed modular, soft robotic system with interconnecting capabilities significantly expands the versatility of operational tasks as well as the adaptability of handling objects of various shapes, sizes, and weights using a single system.

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.

Broadening Bandwidth in a Semi-Active Vibration Absorption System Utilizing Stacked Polyvinyl Chloride Gel Actuators.

Plasticized polyvinyl chloride (PVC) gel is a new soft and smart material, whose potential in electroactive variable stiffness can be used for vibration control in soft robotic systems. In this paper, a new semi-active vibration absorber is developed by stacking PVC gel actuator units. The absorption bandwidth of a single PVC gel absorber covers the range of three natural frequencies (76.5 Hz, 95 Hz, 124 Hz) of a rectangular steel plate in vibration attenuation. The maximum reduction percentage in acceleration amplitude is 63%. With stacked PVC gel actuator units, the absorption bandwidth can be shifted and obviously broadened.

Perceptually Inspired C0-Continuity Haptic Shape Display with Trichamber Soft Actuators.

Shape display devices composed of actuation pixels enable dynamic rendering of surface morphological features, which have important roles in virtual reality and metaverse applications. The traditional pin-array solution produces sidestep-like structures between neighboring pins and normally relies on high-density pins to obtain curved surfaces. It remains a challenge to achieve continuous curved surfaces using a small number of actuated units. To address the challenge, we resort to the concept of surface continuity in computational geometry and develop a C0-continuity shape display device with trichamber fiber-reinforced soft actuators. Each trichamber unit produces three-dimensional (3D) deformation consisting of elongation, pitch, and yaw rotation, thus ensuring rendered surface continuity using low-resolution actuation units. Inspired by human tactile discrimination threshold on height and angle gradients between adjacent units, we proposed the mathematical criteria of C0-continuity shape display and compared the maximal number of distinguishable shapes using the proposed device in comparison with typical pin-array. We then established a shape control model considering the nonlinearity of soft materials to characterize and control the soft device to display C0-continuity shapes. Experimental results showed that the proposed device with nine trichamber units could render typical sets of distinguishable C0-continuity shape sequence changes. We envision that the concept of C0-continuity shape display with 3D deformation capability could improve the fidelity of the rendered shapes in many metaverse scenarios such as touching human organs in medical palpation simulations.

A Selectively Controllable Triple-Helical Micromotor

Selective control mechanisms of microrobots have attracted significant attention from researchers. So far, selective control within multiple/swarm magnetic microrobots has been achieved with many strategies, such as utilizing locally specified magnetic fields, applying electrostatic anchoring, taking the advantages of geometry/wettability heterogeneity of the microrobots, etc. Using the step-out behavior of helical microrobots driven by a rotating magnetic field, researchers have proposed a mathematical model for multihelical motor that can be selectively controlled. Based on this model, we developed a micromotor that consists of three geometrically heterogeneous helices that can be selectively driven within a specific narrow frequency range. This type of micromotor shows bi-direction motion capability and has the potential to be used as an actuation unit for multiple types of functional micromechanisms.

Intrinsically Multistable Soft Actuator Driven by Mixed-Mode Snap-Through Instabilities.

Actuators utilizing snap-through instabilities are widely investigated for high-performance fast actuators and shape reconfigurable structures owing to their rapid response and limited reliance on continuous energy input. However, prevailing approaches typically involve a combination of multiple bistable actuator units and achieving multistability within a single actuator unit still remains an open challenge. Here, a soft actuator is presented that uses shape memory alloy (SMA) and mixed-mode elastic instabilities to achieve intrinsically multistable shape reconfiguration. The multistable actuator unit consists of six stable states, including two pure bendingstates and four bend-twist states. The actuator is composed of a pre-stretched elastic membrane placed between two elastomeric frames embedded with SMA coils. By controlling the sequence and duration of SMA activation, the actuator is capable of rapid transition between all six stable states within hundreds of milliseconds. Principles of energy minimization are used to identify actuation sequences for various types of stable state transitions. Bendingand twisting angles corresponding to various prestretch ratios are recorded based on parameterizations of the actuator's geometry. To demonstrate its application in practical conditions, the multistable actuator is used to perform visual inspection in a confined space, light source tracking during photovoltaic energy harvesting, and agilecrawling.

A differentiable actuator extends potential configurations of modular robots

Mesenchymal stem cells (MSCs) can be differentiated into various cell lineages under the influence of mechano-niche. Inspired by this approach, this study presents a differentiable stem cell actuator unit (SAU) driven by a shape memory alloy, and a modular robotic framework. Similar to mechanically guided differentiation of MSCs, SAUs can be differentiated into a series of differentiated actuator units (DAUs) under external preload. This process has been modeled, simulated, and experimentally validated, with testing conducted on three distinct types and 14 specifications of DAUs. DAUs weighing as light as 1.96g exhibited outputs reaching up to 10.6 N and 46.32 Nmm. Our team has developed seven application prototypes based on this bio-inspired framework including mobile robots, manipulators and end effectors. This work pioneers the integration of differentiable concepts and principles into the design of modular robots, enabling a wider range of potential configurations and capabilities.

Design and implementation of a precision levelling composite stage with active passive vibration isolation

The white-light-interference (WLI) three-dimensional topography fine detection has high requirements for the chip-loading stage on levelling and vibration isolation capacity, to ensure that the micro-meter-level structured chip is stably aligned with the WLI scanning head. To meet the high performance detection requirements, this paper designs a novel three-axis levelling and active-passive vibration isolation (LAPV) composite stage, in order to perform precision tilt levelling and wide-frequency-domain vibration isolation. The proposed LAPV stage integrates a modified quasi-zero-stiffness passive vibration isolation unit with an active actuation unit which consists of three voice coil motors (VCMs). It performs active-passive vibration isolation while ensuring a precision levelling. Considering the load bearing and motion vibration of the chip-loading stage, a miniaturized quasi-zero-stiffness mechanism having a specialized leaf spring structure is then designed to limit the vibration isolation operation to the vertical direction and coordinate the levelling motion of the tilt rotation direction, so as to establish a structural decoupling stage. Based on the dynamic and kinematic modelling analysis, a customized PID-Positive Position Feedback (PID-PPF) control scheme is implemented. Afterwards, an experimental verification is conducted. The obtained results show that the stage can achieve a precise levelling motion, reaching a levelling deviation of 33.2 μrad. Moreover, it also can achieve effective active-passive vibration isolation for various vibrations with different frequencies and amplitudes, and the vibration isolation rate can reach 90 %.

Safety Concepts for Future Electromechanical Brake Actuators

<div>A growing interest in electromechanical brakes (EMB) is discernible in the automotive industry finding its climax in an announcement of EMB series production in late 2022 [<span>1</span>]. The introduction of EMB allows for new design opportunities using distributed software on smart actuators. However, additional efforts are needed to ensure continuously high levels of safety even when established design principles in the brake system are changed.</div> <div>This article discusses different safety concepts that could potentially be put in place in EMB actuators. Therefore, safety goals that need to be satisfied by an actuator are derived. Furthermore, three different degrees of complexity are differentiated, evolving to different required electronic control units (ECU) and architectures. Additionally, also the safety of the actuation unit (AU) is considered to realize a holistic safety concept for the actuator. Finally, a conclusion is drawn comparing the different investigated concepts.</div>

A Magnet‐Driven Soft Bistable Actuator

AbstractBistable morphing structures are widely used as actuation mechanisms in soft actuators, soft robotics, energy absorbers, mechanical computers, optical lenses, metamaterials, and flexible electronics. However, untethered actuators, repetitive actuators, and hybrid‐assembly (containing in‐plane‐assembly and out‐of‐plane‐assembly) actuators remain challenging to realize using existing bistable structures, which hinders the novel application of such actuators in research, engineering, and daily life. This problem is solved by fabricating a magnet‐driven soft bistable actuator (MSBA) unit. The self‐buckling of the circular polydimethylsiloxane (PDMS) sheet ensures the bistability of the actuator and allows it to operate as an independent unit, free of external constraints. The reorientation of neodymium‐iron‐boron (NdFeB) microparticles embedded in the PDMS sheet enables the dome‐shaped actuators to exhibit repetitive snapping under the stimulus of a direction‐switching magnetic field. The potential of this MSBA unit in bionics, electronics, and biomechanics applications is demonstrated in systematic studies involving modification of the buckling deflection and magnetic moment density. The MSBA unit exhibits excellent performance in hybrid designs and intelligent systems.