Actuation Cycles Research Articles

Soft Artificial Muscle of Poly(vinyl chloride) Gel with an Imperceptible Liquid Metal Electrode.

Electrodes with high electrical conductivity, yet good flexibility and mechanical compliance, are critical for electroactive artificial muscles. Herein, a promising liquid metal (LM) electrode is proposed by transforming eutectic gallium-indium (EGaIn) LM with high surface tension into paste-like LM with solid Ga2O3 shells. The developed compliant LM electrode not only shows high conductivity and negligible additional stiffness but also displays excellent electrical stability during cyclic actuation. Based on the LM electrode, the poly(vinyl chloride) gel (PVCG) artificial muscle developed exhibits the maximum actuation strain of 18.7% at a low electric field strength of 9 V μm-1 and maintains excellent durability without obvious performance attenuation after 10,000 s. A comparison shows that the as-developed PVCG artificial muscle is superior over that based on widely used carbon electrodes. Moreover, an artificial upper limb and crawling worm were manufactured to explore the great potential of PVCG artificial muscle in the robotic field. In addition, the practical application demonstration of the PVCG artificial muscle in the biomimetics field is also successfully fulfilled through the design of reasonable structures. Due to its easy fabrication, excellent electrical conductivity, and high mechanical compliance, the newly developed LM electrode is promising for high-performance PVCG artificial muscles in bionic robots.

A 4D Soil-Structure Interaction Model Testing Apparatus

Abstract A new three-axis loading frame has been developed to enable real-time visualization of in-situ soil and rock structure interactions via X-ray tomography during small-scale model testing. The constructed frame is capable of performing a wide range of small-scale 1g tests and can accommodate monotonic and cyclic actuation under both load and displacement control. The compact size of the system enables remote multi-axis operation from within an X-ray cone-beam scanning bay, a capability which is owed to a comprehensive design process. Design and fabrication involved a blend of physical and numerical experiments to assess suitable construction materials and performance. In this scope, the new equipment is discussed and its capability is showcased.

Multi-layered morphing soft structure with high-performance embedded electrothermal artificial muscles along with touch and temperature sensors

Abstract In this paper, we present a novel multilayered morphing structure, having similar topology resembling the structures found in nature to grasp delicate objects effectively as well as sense contact force and temperature. The structure consists of two actuation layers, two U-shaped cooling channel layers, piezoelectric based touch sensors and temperature sensors. Employing shape memory alloy (SMA) spring actuators for bending and twisted and coiled polymer fishing line with nichrome (TCPFL NMC) artificial muscles for antagonistic return, the soft silicone-based composite skin exhibits unique capabilities of large bidirectional movement, avoid rigid passive springs for return motion, soft grasping, safe interaction with humans, and ease fabrication. The SMA (0.38 mm wire diameter) serves as relatively fast actuating muscle and the TCPFL NMC (0.8 mm fiber diameter) as a slow actuating (considering mainly heating cycle), which was programmed/designed to mimic the fast and slow twitching muscles found in nature. Bending and return operations of skin samples of length 100 mm and thickness of 9 mm, with three different widths 20 mm, 25 mm, 30 mm, were experimentally studied. The 25 mm wide multilayered soft skin demonstrated cyclic actuation with a maximum bending angle of ∼70°, which was attributed due to the active cooling. The fluidic channels for active cooling were fabricated using 3D printed PVA tubes, casting within the silicone in a mold and subsequently dissolving in a circulating water. The study also included the integration and voltage response of mini-piezodisk sensor PIC255 having a diameter of 2 mm and thickness of 0.15 mm, which was embedded at different depths within the silicone (on the surface, 1 mm depth and 2 mm depth). The multilayered soft skin was also able to detect the temperature of the object during grasping, suggesting its potential application as a soft gripper in robotic systems.

Application of inverse heat transfer to fatigue fracture

Cyclic actuation tends to cause self-heating in the material as the structure experiences fatigue, where the movement and coalescence of defects lead to crack formation, propagation, and eventual fracture. This study explores the modeling aspects of the self-heating phenomenon using a one-dimensional inverse heat problem to analyze heat generation and dissipation to quantify the plastic work rates needed for predicting fatigue life. The approach is based on analyzing the surface thermography obtained using an infrared camera and numerically solving an inverse Fourier heat conduction equation. Formulation of the inverse problem via constrained optimization and method of solution for analyzing the fatigue behavior of CS 1018 flat dog bone specimens subjected to fully reversed bending fatigue are presented. The proposed model demonstrates superior accuracy in predicting the location of maximum heat generation and identifying potential fracture zones compared to traditional methods.

Fabrication and Characterization of Graphene-Mesoporous Carbon-Nickel-Poly(Vinyl Alcohol)-Coated Mandrel-Coiled TCPFLNR Artificial Muscle.

This study investigates the performance enhancement of mandrel-coiled twisted and coiled polymer fibers with a nichrome heater (TCPFLNR) by coating with a solution of graphene-mesoporous carbon-nickel-polyvinyl alcohol. The coating process involved a one-pot synthesis utilizing graphene powder, Ni nanoparticles, mesoporous carbon, and PVA as a binding agent. The coating was performed by manually shaking the TCPFLNR and the subsequent annealing process, which results in improved thermal conductivity and actuation behavior of the TCPFLNR. Experimental results on a 60 mm long actuator demonstrated significant enhancements in actuation displacement and actuation strain (20% to 42%) under various loads with an input current of 0.27 A/power 2.16 W. The blocked stress is ~10 MPa under this 2.16 W power input and the maximum strain is 48% at optimum load of 1.4 MPa. The observed actuation strain correlated directly with the input power. The coated TCPFLNR exhibited better thermal contacts, facilitating enhanced heat transfer, and reducing power consumption by 6% to 9% compared to non-coated actuators. It was found that the nanomaterial coating helps the TCP actuator to be reliable for more than 75,000 actuation cycles at 0.1 Hz in air due to improved thermal conductivity. These findings highlight the potential for further research to optimize electrothermally operated TCP actuators and unlock advancements in this field.

A Fast and Strong Microactuator Powered by Internal Combustion of Hydrogen and Oxygen

AbstractThe development of fast and strong microactuators that can be integrated in microdevices is an essential challenge due to a lack of appropriate driving principles. A membrane actuator powered by internal combustion of hydrogen and oxygen in a chamber with a volume of 3.1 nanoliters is demonstrated. The combustion in such a small volume is possible only for an extremely high surface‐to‐volume ratio on the order of 107 m−1. The fuel with this ratio is prepared electrochemically in a special regime that produces only nanobubbles. A cloud of nanobubbles merges, forming a microbubble, which explodes, increasing the volume 500× in 10 µs. The actuator generates an instantaneous force up to 0.5 N and is able to move bodies 11 000× more massive than itself. The natural response time of ≈10 ms is defined by the incubation time needed to produce an exploding bubble. The device demonstrates reliable cyclic actuation at a frequency of 1 Hz restricted by the effect of electrolyte aging. After 40 000 explosions, no significant wear in the chamber is observed. Due to a record‐breaking acceleration and standard microfabrication techniques, the actuator can be used as a universal engine for various microdevices including microelectromechanical systems, microfluidics, microrobotics, wearable and implantable devices.

Design and dynamic characterization of a phototunable optofluidic lens.

Optofluidic devices that dynamically respond to light stimuli have the potential to impart modern adaptive optics with intrinsic optical logic without the need for external power sources or feedback control. While photo actuation is typically associated with low energy efficiency compared with alternative modes of actuation, fluid lenses can be tuned with minimal work by generating small differential pressures across the surface of the lens to drive a change in focal length. In this study, we developed a wide aperture (9.5 mm) photothermally actuated lens that leverages spatially and thermodynamically informed design principles developed for resistively heated thermo-pneumatically actuated lenses. Using experimentally validated models to describe the curvature of pressurized elastomer-bound interfaces, we demonstrated phototunable modulation of the focal length from 124 mm to 90 mm in real time using 233 mW of 405 nm light over 30 s of irradiation with an estimated 8.2 µJ of mechanical work (10-4% efficiency). The initial focal length recovered after 60 s in the dark over three consecutive cycles of actuation. Additionally, the photoactuated response is shown to correlate well with the light intensity.

Ultra-low stress-hysteresis and huge superelasticity in NiMn-based shape memory microwire

Hysteresis related to first-order phase transformation in shape memory alloys, which is the macroscopic manifestation of energy dissipation, is detrimental to the precise control of actuation and causes structural and functional fatigue of components. It is of vital importance to explore high-performance shape memory alloys with low stress-hysteresis, large superelasticity, and wide temperature range operation in practical applications. Here, we have developed a Ni-Mn-Fe-In shape memory microwire, exhibiting an ultra-low stress-hysteresis and huge tensile superelasticity in a wide temperature range. The microwire shows a smooth surface and a single crystal structure (with ⟨001⟩A-oriented along the axial direction of microwire), and the microstructure of the microwire contains austenite matrix and sparsely distributed precipitates with an average size of 20–80 nm, all of which may be beneficial to obtain low hysteresis and large strains in the microwire. As a result, the microwire exhibits a minimum stress-hysteresis of as low as 8.5 MPa (with overall strain of 15.3%) and corresponding energy dissipation as low as 1.44 MJ/m3. The microwire always shows a low stress-hysteresis (less than 24 MPa) and low energy dissipation (less than 2.86 MJ/m3) above room temperature. The microwire shows a huge superelasticity with recoverable strains higher than 15% in the wide temperature range from 218 to 418 K. Together with the advantages of easy fabrication and no post-processing required, this microwire shows a tremendous potential for cyclic actuators and energy conversion devices under multi-field coupling.

Material characterization of iron-based shape memory alloys for use in self-centering columns

Iron-based shape memory alloys (FeSMAs) are emerging as a promising material for use in post-tensioning concrete structures to provide self-centering capabilities during a seismic event. Past experimental studies on FeSMA focused on strengthening or repairing existing structural components under gravity loading. In addition to the structural rehabilitation, FeSMA also have potential for use in self-centering columns subjected to seismic loads. However, the basic material properties, such as strength, ductility, recovery strain, actuation stress (i.e. prestress) stability, low-cycle fatigue resistance, and temperature dependence of FeSMA related to self-centering column applications have not been studied extensively to-date. To fill this knowledge gap and determine the feasibility of using FeSMA in self-centering columns, this study performed a comprehensive characterization and analysis of FeSMA both before and after actuation (i.e. thermal stimulation). The strength, ductility, energy dissipation, and recovery strain of FeSMA before actuation were tested at different temperatures from −40 °C to 50 °C. After actuation, the actuation stress, low-cycle fatigue resistance, and strain capacity of FeSMA were tested at different temperatures from −40 °C to 50 °C and prestrain levels from 4% to 30%, and under low-cycle fatigue loading with strain amplitudes from 0.5% to 1.0%. The results from this study demonstrated that FeSMA exhibit high ductility, cyclic actuation stress stability, and low-cycle fatigue resistance at temperatures from −40 °C to 50 °C. Furthermore, it was found that increasing the prestrain level can effectively increase the post-actuation strain amplitude at which the actuation stress reduces to zero. A prestrain level between 15% and 20% is recommended for application of FeSMA in self-centering columns. The research findings from this study demonstrated the feasibility of using FeSMA in self-centering columns subject to seismic loading.

Multiphysics modeling and optimization of an innovative shape memory alloy-polymer active composite

Shape memory alloys (SMAs) are a unique class of smart materials capable of recovering significant deformations through temperature variations, making them attractive for adaptive structures and morphing applications. However, integrating SMAs into polymer composites poses significant challenges, such as interfacial delamination and matrix overheating during thermal activation, in addition predicting the stress acting on the SMA during the actuation is pivotal. Addressing these issues is crucial for realizing the full potential of SMA-based active composites in aerospace, automotive, and renewable energy sectors. This study presents a novel multi-material design strategy for SMA-polymer active composites, featuring a rigid PC/ABS layer for mechanical integrity, a soft high-temperature silicone coating for encapsulating SMA wires, and aluminum terminals for wire crimping. A comprehensive multiphysics FEM model was developed to accurately capture the coupled thermo-mechanical response. Extensive experimental characterization and validation were conducted, followed by systematic parametric studies to investigate the effects of critical design parameters on key performance metrics. The developed prototype exhibited remarkable shape morphing capabilities, with a maximum tip deflection of 68 mm (deflection-to-length ratio of 0.4). Excellent agreement between experiments and simulations was achieved, with a maximum error of 1.7 % in tip deflection, validating the accuracy of the multiphysics model. Parametric analyses quantified the trade-offs between geometric parameters, revealing their influence on activation temperature, deflection, SMA wire stress, and fatigue life. Optimal configurations enabling low activation temperatures (<150 °C), low stress levels (<400 MPa), and high predicted fatigue life (>50,000 cycles) were identified. The multi-material design approach effectively addressed common issues in SMA-polymer composites, enabling reliable actuation cycles without damage accumulation. The validated multiphysics model and parametric insights provide a comprehensive framework for optimizing the design and performance of SMA-polymer active composites, paving the way for their widespread adoption in shape morphing applications. Potential implications include the development of adaptive aerodynamic surfaces, deployable structures, and energy-efficient systems across various industries.

Diffusiophoretic Fast Swelling of Chemically Responsive Hydrogels.

Acid-induced release of stored ions from polyacrylic acid hydrogels (with a free surface fully permeable to the ion and acid) was observed to increase the gel osmotic pressure that leads to rapid swelling faster than the characteristic solvent absorption rate of the gel. The subsequent equilibration of the diffusing ion concentration across the gel surface diminishes the osmotic pressure. Then, the swollen gel contracts, thereby completing one actuation cycle. We develop a continuum poroelastic theory that explains the experiments by introducing a "gel diffusiophoresis" mechanism: Steric repulsion between the gel polymers and released ions can induce a diffusio-osmotic solvent intake counteracted by the diffusiophoretic expansion of the gel network that ceases when the ion gradient vanishes. For applications ranging from drug delivery to soft robotics, engineering the gel diffusiophoresis may enable stimuli-responsive hydrogels with amplified strain rates and power output.

Crack-Resistant and Tissue-Like Artificial Muscles with Low Temperature Activation and High Power Density.

Constructing soft robotics with safe human-machine interactions requires low-modulus, high-power-density artificial muscles that are sensitive to gentle stimuli. In addition, the ability to resist crack propagation during long-term actuation cycles is essential for a long service life. Herein, a material design is proposed to combine all these desirable attributes in a single artificial muscle platform. The design involves the molecular engineering of a liquid crystalline network with crystallizable segments and an ethylene glycol flexible spacer. A high degree of crystallinity can be afforded by utilizing aza-Michael chemistry to produce a low covalent crosslinking density, resulting in crack-insensitivity with a high fracture energy of 33720 J m-2 and a high fatigue threshold of 2250 J m-2. Such crack-resistant artificial muscle with tissue-matched modulus of 0.7MPa can generate a high power density of 450W kg-1 at a low temperature of 40°C. Notably, because of the presence of crystalline domains in the actuated state, no crack propagation is observed after 500 heating-cooling actuation cycles under a static load of 220kPa. This study points to a pathway for the creation of artificial muscles merging seemingly disparate, but desirable properties, broadening their application potential in smart devices.

Knotted Artificial Muscles for Bio-Mimetic Actuation under Deepwater.

Muscles featuring high frequency and high stroke linear actuation are essential for animals to achieve superior maneuverability, agility, and environmental adaptability. Artificial muscles are yet to match their biological counterparts, due to inferior actuation speed, magnitude, mode, or adaptability. Inspired by the hierarchical structure of natural muscles, artificial muscles are created that are powerful, responsive, robust, and adaptable. The artificial muscles consist of knots braided from 3D printed liquid crystal elastomer fibers and thin heating threads. The unique hierarchical, braided knot structure offers amplified linear stroke, force rate, and damage-tolerance, as verified by both numerical simulations and experiments. In particular, the square knotted artificial muscle shows reliable cycles of actuation at 1Hz in 3000m depth underwater. Potential application is demonstrated by propelling a model boat. Looking ahead, the knotted artificial muscles can empower novel biomedical devices and soft robots to explore various environments, from inside human body to the mysterious deepsea.

Functional soft robotic composites based on organic photovoltaic and dielectric elastomer actuator.

Improving the energy efficiency of robots remains a crucial challenge in soft robotics, with energy harvesting emerging as a promising approach to address it. This study presents a functional soft robotic composite called OPV-DEA, which integrates flexible organic photovoltaic (OPV) and dielectric elastomer actuator (DEA). The composite can simultaneously generate electrostatic bending actuation and harvest energy from external lights. Owing to its simplicity and inherent flexibility, the OPV-DEA is poised to function as a fundamental building block for soft robots. This study aimed to validate this concept by initially establishing the fabrication process of OPV-DEA. Subsequently, experimental samples are fabricated and characterized. The results show that the samples exhibit a voltage-controllable bending actuation of up to 15.6° and harvested power output of 1.35 mW under an incident power irradiance of 11.7 mW/cm2. These performances remain consistent even after 1000 actuation cycles. Finally, to demonstrate the feasibility of soft robotic applications, an untethered swimming robot equipped with two OPV-DEAs is fabricated and tested. The robot demonstrates swimming at a speed of 21.7mm/s. The power consumption of the robot is dominated by a high-voltage DC-DC converter, with a value approximately 1.5 W. As a result, the on-board OPVs cannot supply the necessary energy during locomotion simultaneously. Instead, they contribute to the overall system by charging a battery used for the controller on board. Nevertheless, these findings suggest that the OPV-DEA could pave the way for the development of an unprecedented range of functional soft robots.

Fracture toughness and fatigue crack growth resistance of precipitate-free and precipitation hardened NiTiHf shape memory alloys

The present work investigates fracture toughness, and actuation and mechanical fatigue crack growth responses of Ni50.3Ti29.7Hf20 HTSMAs across martensitic transformation with two different microstructures, one with H-phase nanoprecipitates and one without. H-phase precipitation is known to stabilize the actuation cycling response of NiTiHf HTSMAs and notably impacts transformation-induced plasticity. The fracture toughness tests performed reveal that precipitate-free NiTiHf has a higher fracture toughness and undergoes significantly more inelastic deformation than the one with the precipitates resulting in toughness enhancement, i.e., stable crack advance during fracture toughness experiments, which is not observed in the precipitated NiTiHf for the crack configuration and loading conditions tested. Furthermore, the precipitate free NiTiHf has higher actuation and mechanical fatigue crack growth resistance than the precipitation-hardened microstructure. This is attributed to plasticity buildup, which exacerbates the manifestation of retained martensite upon repeated transformations. The fatigue crack growth rates obtained from both actuation and mechanical fatigue experiments align to a single Paris Law Curve for the precipitation-hardened NiTiHf. This work aims to determine if unified Paris Law curves can be generated from mechanical and actuation fatigue experiments, irrespective of composition and microstructure, to estimate actuation fatigue crack growth rates, laborious and challenging to measure, from easier to detect mechanical fatigue crack growth rates.

Single layered soft skin actuated with twisted and mandrel coiled actuators for soft robotics

AbstractSoft silicone‐based artificial skin is essential in soft robotics because of high elongation, safe human interaction, low energy requirements and ease of manufacturing. Inspired by nature, several attempts have been made to fabricate morphing structures using synthetic soft skin. In this study, a novel elastomeric skin is demonstrated featuring embedded actuators and micro‐fluidic channels, that is capable of grasping objects. The actuators are twisted, and mandrel coiled nylon artificial muscles, with nichrome heaters that overcome key challenges in developing synthetic soft skin. The desired properties of a morphing skin are being low‐cost, lightweight, highly deformable, compact size, silent cyclic actuation, fast response, and long life. The actuators are fabricated from 160 μm diameter resistance wires wrapped on twisted nylon 6 fishing line precursor fibers of 800 μm diameter. The wrapped nichrome (0.42 mm pitch) along with the twisted precursor fibers are coiled on a 1.4 mm diameter mandrel rod to obtain high strain. This muscle termed twisted, and mandrel coiled polymer fishing line muscle with nichrome is embedded in soft skin samples and tested. Characterization results on the actuators (3.2 mm in diameter) showed remarkable tensile actuation of ~36% strain from loaded length at 0.99 MPa for an input power of 4.9 W, a blocked stress of 1.27 MPa, an actuation frequency of 0.04 Hz, and a lifecycle &gt;22,000 cycles. These actuators, when embedded in the soft skin of 4 mm thick, showed ~50% bending strain within 10s and a cyclic behavior with active water cooling. A soft gripper fabricated with embedded soft skin is integrated to our child‐sized humanoid robot (HBS Robot) demonstrating its potential in grasping unconventional and deformable objects, hence advancing the progress in soft robotics.

Multivapor-Responsive Controlled Actuation of Starch-Based Soft Actuators.

Multivapor-responsive biocompatible soft actuators have immense potential for applications in soft robotics and medical technology. We report fast, fully reversible, and multivapor-responsive controlled actuation of a pure cassava-starch-based film. Notably, this starch-based actuator sustains its actuated state for over 60 min with a continuous supply of water vapor. The durability of the film and repeatability of the actuation performance have been established upon subjecting the film to more than 1400 actuation cycles in the presence of water vapor. The starch-based actuators exhibit intriguing antagonistic actuation characteristics when exposed to different solvent vapors. In particular, they bend upward in response to water vapor and downward when exposed to ethanol vapor. This fascinating behavior opens up new possibilities for controlling the magnitude and direction of actuation by manipulating the ratio of water to ethanol in the binary solution. Additionally, the control of the bending axis of the starch-based actuator, when exposed to water vapor, is achieved by imprinting-orientated patterns on the surface of the starch film. The effect of microstructure, postsynthesis annealing, and pH of the starch solution on the actuation performance of the starch film is studied in detail. Our starch-based actuator can lift 10 times its own weight upon exposure to ethanol vapor. It can generate force ∼4.2 mN upon exposure to water vapor. To illustrate the vast potential of our cassava-starch-based actuators, we have showcased various proof-of-concept applications, ranging from biomimicry to crawling robots, locomotion near perspiring human skin, bidirectional electric switches, ventilation in the presence of toxic vapors, and smart lifting systems. These applications significantly broaden the practical uses of these starch-based actuators in the field of soft robotics.

Durability of the bubble-jet sorter enables high performance bio sample isolation.

Sorting cells while maintaining their viability for further processing or analysis is an essential step in a variety of biological processes ranging from early diagnostics to cell therapy. Sorting techniques such as fluorescence-activated cell sorting (FACS) have evolved considerably and provide standard ways of sorting. Nevertheless, the search for compact, integrated, efficient, and high throughput microfluidic sorting platforms continues due to challenges such as cost, cell viability, and biosafety. In our previous work, we introduced a technology with the potential to become such a platform: the bubble-jet sorter. It is a silicon-based sorter chip relying on cell deflection through micro vapor bubble formation. In this work, we present a new version of the sorter chip that emphasizes durability and continuous sorting operation. To characterize the sorter, we first focus on the technical performance and show a sorter lifetime that repeatedly exceeds 80 million actuation cycles. In addition, we show continuous operation at high firing rates, but also discuss limitations due to heat buildup. In a second step, we present continuous sorting runs of millions of beads and CD3 positive T cells at rates surpassing 1000 sorting events per second, while maintaining high purity (>90%) and recovery (>85%). Dedicated viability tests show that the gentle sorting process maintains cell viability in this closed, aerosol-free device. The remarkable combination of high lifetime, sorting rate, and sorting efficiency, along with the potential for on-chip parallelization show the promise of this technology to meet the growing demand for large-scale sample isolation in drug and immunotherapy development.

Polyisobutylene Encapsulated PEDOT: Pss Electrode Honeycomb Skeleton Electrolyte for Moisture Resistant Electro‐Ionic Soft Artificial Muscles

AbstractAdvances in electro‐ionic soft actuators hold significant potential as next‐generation bioelectronic interfaces due to mechanical compliance and operation in agreement with soft biological tissues and low voltages. However, current devices call for encapsulation strategies to accommodate high mechanical demands and long‐term stability in environmental changes. In this study, a durability of polyvinylidene‐fluoride‐co‐hexafluoropropylene (PVDF‐co‐HFP) honeycomb skeleton electrolyte encapsulated with a biocompatible polyisobutylene (PIB) thin film is being investigated. A low water vapor transmission rate (0.61 g m−2 day−1) and elastic modulus (10 kPa) are measured from a 7.5 µm‐thick thin‐modified PIB‐encapsulation layer. The PIB‐encapsulated soft actuator maintains 68% of its mechanical durability after 40 000 cycles of zero‐to‐tension fatigue loading at room temperature. A cantilever actuation test of the PIB‐encapsulated 3mm‐wide 30mm‐long actuator film shows a large tip displacement (15.90 mm) at a low voltage (±1.5 V) under 0.1 Hz, 37 °C, 50% relative humidity (RH). Most importantly, while the unencapsulated actuator immediately degrades in a few cycles at 37 °C, 50%RH, and 0.1% applied strain, PIB‐encapsulated soft actuator performs up to 6500 dynamic actuation cycles without any functionality degradation. Exceptional durability against mechanical fatigue and stability at elevated temperature and humidity meet the prerequisite for future soft biomedical robots that enable long‐lasting safe operations.

Research of transient processes in a two-way pneumatic drive with vacuum gripping devices

An assessment of the current state of research on transient processes in pneumatic actuators is presented. The advantages and disadvantages of pneumatic drives with vacuum gripping devices and their connection with practical design tasks are shown. It has been established that the calculation of parameters and the design of high-speed, typical pneumatic actuators and actuators with vacuum grippers differ significantly. The expediency of using vacuum gripping devices in manipulation drives is shown. It was established that, unlike pneumatic cylinders of mechanical gripping devices, for which the final phase of the actuation cycle is important, in which the piston at the end of the stroke is already stationary, but the pressure in the working cavity increases and, accordingly, the force on the rod increases, for actuators with vacuum gripping devices, this phase is not is taken into account. The choice of a mathematical model and a methodology for calculating the transient processes of double-acting pneumatic actuators is substantiated. The model involves recording the equation of motion of the cylinder piston, supplemented by equations describing pressure changes in the working and exhaust cavities of the cylinder, followed by computer simulation. As part of the mathematical model, a study of transient processes was carried out, therefore, all simulation results are shown in the time interval limited by the period of piston movement (ie, preparatory and final periods were not considered). The effect of the effective areas of the input and output pneumolines of the pneumocylinder on dynamic processes in the actuator was studied. It was established that the change in the diameter of the inlet opening and, accordingly, the area of the inlet opening of the working or exhaust cavity leads to a change in the flow rate and capacity factor of the communication lines, is characterized by a change in the kinetic energy of the output link, limits its working speed and ensures the smoothness of the movement of the output link of the drive.