Elastomer Membrane Research Articles

Deformation and enclosed volume change of axisymmetric non-linear dielectric elastomer membrane pump: a theoretical study

Abstract This work investigates the change in the enclosed volume of an axisymmetric non-linear hyper-elastic membrane pump subjected to dielectric actuation. The equilibrium equations in cylindrical coordinates, coupled with non-linear constitutive relations, are solved numerically to obtain the deformed membrane geometry under pressure loading (using Variational Calculus). The effect of dielectric actuation is then incorporated by considering the change in material properties and deformation induced by the applied electric field. The deformed geometry under dielectric actuation is determined, and the change in enclosed volume is calculated by comparing the deformed states with and without the applied electric field. The proposed approach enables quantifying the volumetric change in non-linear hyper-elastic membrane pumps due to dielectric actuation for potential applications in soft robotics, adaptive optics, and microfluidics. By non-dimensionalizing variables, key dimensionless parameters governing the problem are identified for broader applicability. Furthermore, this methodology can estimate volume changes for different electric actuations when a specific material is chosen with experimentally derived parameter trends, facilitating material selection or synthesis to meet targeted volumetric requirements.

Simplified discrete model for axisymmetric dielectric elastomer membranes with robotic applications

Soft robots utilizing inflatable dielectric membranes can realize intricate functionalities through the application of non-mechanical fields. However, given the current limitations in simulations, including low computational efficiency and difficulty in dealing with complex external interactions, the design and control of such soft robots often require trial and error. Thus, a novel one-dimensional (1D) discrete differential geometry (DDG)-based numerical model is developed for analyzing the highly nonlinear mechanics in axisymmetric inflatable dielectric membranes. The model captures the intricate dynamics of these membranes under both inflationary pressure and electrical stimulation. Comprehensive validations using hyperelastic benchmarks demonstrate the model’s accuracy and reliability. Additionally, the focus on the electro-mechanical coupling elucidates critical insights into the membrane’s behavior under varying internal pressures and electrical loads. The research further translates these findings into innovative soft robotic applications, including a spherical soft actuator, a soft circular fluid pump, and a soft toroidal gripper, where the snap-through of electroelastic membrane plays a crucial role. Our analyses reveal that the functional ranges of soft robots are amplified by the snap-through of an electroelastic membrane upon electrical stimuli. This study underscores the potential of DDG-based simulations to advance the understanding of the nonlinear mechanics of electroelastic membranes and guide the design of electroelastic actuators in soft robotics applications.

Static and dynamic analysis of a hyperelastic toroidal air-spring structure

The present work proposes a novel toroidal air-spring model consisting of two cylindrical elastomeric membranes unlike conventional convoluted air-spring with one rubber bellow. The membranes are attached with two annular plates at top and bottom in circumferential direction, forming a closed space in between. With internally pressurizing the setup, the inflated bellow in the shape of a toroidal air-spring structure is formed. The static and dynamic analysis of the air-spring model is performed under transverse loading on top plate. The static analysis is carried out by compressing the air-spring to different suspension heights, assuming adiabatic compression of the enclosed air. The conditions for impending wrinkling, its prevention measures by choosing suitable design parameters, and the effect using cord-reinforced membranes are explored. The dynamic study under harmonic forcing is performed using the method of assumed modes coupled with a perturbation technique to solve the Eigenvalue problem of the discretized membrane structure. The radial asymmetric perturbations are included in the formulation to explore the symmetry breaking during dynamic study. The Eigen frequencies of the structure are obtained for different inflation pressures of the air-spring. Interestingly, a frequency veering phenomenon is observed between a few Eigen modes associated with closely spaced natural frequencies, where the possibility of mode swapping exists. The forced vibration analysis around a few Eigen frequencies shows beating like responses. The stiffness of the proposed air-spring is found to be linear under both static and dynamic conditions, which is inline with the stiffness nature of the convectional convoluted air-springs.

Magnetomechanical Behaviors of Hard-Magnetic Elastomer Membranes Placed in Uniform Magnetic Field.

This paper aims to develop a theoretical model for a viscoelastic hard-magnetic elastomer membrane (HMEM) actuated by pressure and uniform magnetic field. The HMEM is initially a flat, circular film with a fixed boundary. The HMEM undergoes nonlinear large deformations in the transverse direction. The viscoelastic behaviors are characterized by using a rheological model composed of a spring in parallel with a Maxwell unit. The governing equations for magneto-visco-hyperelastic membrane under the axisymmetric large deformation are constructed. The Zeeman energy, which is related to the magnetization of the HMEM and the magnetic flux density, is employed. The governing equations are solved by the shooting method and the improved Euler method. Several numerical examples are implemented by varying the magnitude of the pre-stretch, pressure, and applied magnetic field. Under different magnetic fields, field variables such as latitudinal stress exhibit distinct curves in the radial direction. It is observed that these varying curves intersect at a point. The position of the intersection point is independent of the applied magnetic field and only controlled by pressure and pre-stretch. On the left side of the intersection point, the field variables increase as magnetic field strength increases. However, on the other side, this trend is reversed. During viscoelastic evolution, one can find that the magnetic field can be used to modulate the instability behaviors of the HMEM. These findings may provide valuable insights into the design of the hard-magnetic elastomer membrane structures and actuators.

An experimental parametric analysis of the acoustic response in dielectric elastomer loudspeakers

This article presents an experimental parametric analysis of dielectric elastomer (DE) loudspeakers, which generate sound by means of soft lightweight electroactive polymer membranes, with no need for electromagnetic actuators. Attention is set on a simple topology, which consists of a DE actuator membrane deformed out-of-plane in a conical shape between fixed frames. Different scaled replicas of the system were built, featuring different diameters and elastomer membrane thickness, with the aim of highlighting the dependence of the acoustic response on the design parameters. An experimental analysis of the effect of different electrical and mechanical pre-loads was also carried out. Results suggest that the acoustic response is affected by both geometrical factors, possible effects of aero-elastic interactions, and the level of mechanical stress acting on the DE membrane. These findings provide valuable insights for the optimisation of DE loudspeaker design and operational parameters.

Physicochemical characterization of the metamorphosis of film-forming formulations of betamethasone-17-valerate

Following topical application of a dermatological product, the loss (by evaporation and/or absorption through the skin) of volatile excipients will alter the composition of the formulation remaining on the tissue. This so-called metamorphosis impacts the concentration of the drug in the residual vehicle, (potentially) its physical form therein and, as a result, its uptake into and subsequent permeation through the skin. This research aimed to characterise – using primarily confocal Raman microspectroscopy – the metamorphosis of film-forming formulations of betamethasone-17-valerate (at different loadings) comprised of hydroxypropyl cellulose (film-forming agent), triethyl citrate (plasticizer) and ethanol (solvent). Dissolved and crystalline drug in the films were identified separately by their different characteristic Raman frequencies (1666 cm−1 and 1659 cm−1, respectively). These Raman measurements, as well as optical imaging, confirmed corticosteroid crystallisation in the residual films left after ethanol evaporation when drug concentration exceeded the saturation limit. In vitro release tests of either sprayed or pipette-deposited films into either aqueous or ethanolic receptor solutions revealed drug release kinetics dominated by the residual film post-metamorphosis. In particular, the rate and extent of drug release depends on the concentration of dissolved drug in the residual film, which is limited by drug saturation unless supersaturation occurs. For the simple films examined here, supersaturation was not detected and the solubility limit of drug in the films was sufficient to sustain drug release at a constant flux from the saturated films through a thin silicone elastomer membrane into an aqueous receptor solution for 30 h. Flux values were ∼ 1 μg cm–2h−1 from saturated residual films independent of the amount of crystallized drug present. Flux from subsaturated films was reduced by an amount that was consistent with the lower degree of saturation.

Bone Fracture Healing under the Intervention of a Stretchable Ultrasound Array.

Ultrasound treatment has been recognized as an effective and noninvasive approach to promote fracture healing. However, traditional rigid ultrasound probe is bulky, requiring cumbersome manual operations and inducing unfavorable side effects when functioning, which precludes the wide application of ultrasound in bone fracture healing. Here, we report a stretchable ultrasound array for bone fracture healing, which features high-performance 1-3 piezoelectric composites as transducers, stretchable multilayered serpentine metal films in a bridge-island pattern as electrical interconnects, soft elastomeric membranes as encapsulations, and polydimethylsiloxane (PDMS) with low curing agent ratio as adhesive layers. The resulting ultrasound array offers the benefits of large stretchability for easy skin integration and effective affecting region for simple skin alignment with good electromechanical performance. Experimental investigations of the stretchable ultrasound array on the delayed union model in femoral shafts of rats show that the callus growth is more active in the second week of treatment and the fracture site is completely osseous healed in the sixth week of treatment. Various bone quality indicators (e.g., bone modulus, bone mineral density, bone tissue/total tissue volume, and trabecular bone thickness) could be enhanced with the intervention of a stretchable ultrasound array. Histological and immunohistochemical examinations indicate that ultrasound promotes osteoblast differentiation, bone formation, and remodeling by promoting the expression of osteopontin (OPN) and runt-related transcription factor 2 (RUNX2). This work provides an effective tool for bone fracture healing in a simple and convenient manner and creates engineering opportunities for applying ultrasound in medical applications.

Strength Enhancement of Polyurethane Film by Solution Annealing.

Recently, polyurethane elastomer (TPU) has attracted more and more attention depending on its excellent optical, mechanical, and retreatment properties. The high strength of polyurethane has always been pursued, which can enable its application in more fields. In this work, an aliphatic polyurethane elastomer membrane (HRPU6) was successfully synthesized, and its strength was obviously improved by solvent annealing technology. The tensile strength and adhesion strength can reach 64.56 and 2.58 MPa, but 36.55 and 1.57 MPa only before solvent annealing, respectively. The impact strength of laminated glass based on HRPU has also been significantly improved after solvent annealing, confirmed through drop ball impact testing. It has been confirmed that the increase in strength of HRPU6 is attributed to the enhancement of hydrogen bonding and the improvement of the phase separation degree.

Enhancing the Performance of Soft Actuators with Magnetic Patterns

AbstractThis study presents a concept for a straightforward method to enhance the actuation performances of magneto‐active elastomer membranes. The concept is based on a characteristic magnetization pattern and offers a solution to two major difficulties in the actuation of thin and mechanically soft magnetic actuators: the localization of actuation forces and the self‐demagnetization. After the magnetization process, the membrane presents two regions with an oppositely oriented out‐of‐plane magnetization. The magnetized regions are separated by a transition zone which is called magnetic pole transition. Experimental investigations reveal a high magnetic flux density near the pole transition—even in the center of bidirectionally magnetized membranes—whereas the magnetic flux density of a uniformly magnetized membrane decreases toward the center. In additional experiments, membranes with both magnetization patterns are actuated by stiff permanent magnets. The resulting out‐of‐plane displacement of the bidirectionally magnetized membrane exceeds the displacement of the unidirectionally magnetized membrane by far. The investigations demonstrate that this enhancement stems from the presence of the magnetic pole transition. All experiments are reproduced using magnetic and magneto‐mechanical numerical models; a good accordance between the results is achieved.

The effect of polycaprolactone polyol molecular weight and chain extender type on the physico-mechanical properties and gas permeability of polyurethane thermoplastic elastomer membranes

ABSTRACT In this study, polyurethane thermoplastic elastomers (TPU) were synthesized using isophorone diisocyanate (IPDI), 1,4-butanediol (BDO), and 1,6-hexanediol (HDO) as the chain extenders, and polycaprolactone diol (PCL-diol) with three different molecular weights (2000, 4000, and 10,000 g/mol) as polyols. Fourier transform infrared (FTIR) spectroscopy, X-ray diffraction (XRD) patterns, and differential scanning calorimetry (DSC) were conducted to analyze the chemical microstructure and phase morphology of the prepared samples. The results showed that the change in the chain extender’s type (BDO and HDO) leads to a decrease in the hydrogen bonding index (HBI). Increasing the molecular weight of PCL-diol in BDO-based TPUs has led to an increase in their crystallinity, Young’s modulus, melting temperature, tensile strength, and a decrease in glass transition temperature and elongation at break. Moreover, the increase in the molecular weight of PCL-diol in HDO-based TPUs demonstrated an increase in the crystallinity and elongation at break and tensile strength up to the molecular weight 4000 in PCL-diol, after that, there was a decrease in those properties due to the increase of the soft segments content and change in the chain extender type. Permeability on TPU membranes was performed for N2 and CO2 at three different pressures 3, 6, and 9 atm at room temperature. An increase in pressure led to an increase in membrane permeability due to the increase in gas solubility in TPU based on Henry’s law. The permeability of CO2 is higher than N2 due to the proper interactions of CO2 gas with the polar carbonyl groups of polyurethane. It is observed that the permeability increases in BDO-based samples with an increase in the molecular weight of PCL-diol, while the increase in permeability of HDO-based TPU is up to PCL-diol molecular weight 4000 and after that is decreased. The selectivity of CO2 has decreased with increasing pressure due to the higher rate of dissolution of N2 at higher pressures.

Tunable In Situ Synthesis of Ultrathin Extracellular Matrix-Derived Membranes in Organ-on-a-Chip Devices.

Thin cell culture membranes in organ-on-a-chip (OOC) devices are used to model a wide range of thin tissues. While early and most current platforms use microporous or fibrous elastomeric or thermoplastic membranes, there is an emerging class of devices using extra-cellular matrix (ECM) protein-based membranes to improve their biological relevance. These ECM-based membranes present physiologically relevant properties, but they are difficult to integrate into OOC devices due to their relative fragility. Additionally, the specialized fabrication methods developed to date make comparison between methods difficult. This work presents the development and characterization of a method to produce ultrathin matrix-derived membranes (UMM) in OOC devices that requires only a preassembled thermoplastic device and a micropipette, decoupling the device and UMM fabrication processes. Control over the thickness and permeability of the UMM is demonstrated, along with integration of the UMM in a device enabling high-resolution on-chip microscopy. The reliability of the UMM fabrication method is leveraged to develop a medium-throughput well-plate format device with 32 independent UMM-integrated samples. Finally, proof-of-concept cell culture experiments are demonstrated. Due to its simplicity and controllability, the presented method has the potential to overcome technical barriers preventing wider adoption of physiologically relevant ECM-based membranes in OOC devices.

Elastohydrodynamic interactions in soft hydraulic knots

Soft intertwined channel systems are frequently found in fluid flow networks in nature. The passage geometry of these systems can deform due to fluid flow, which can cause the relationship between flow rate and pressure drop to deviate from the Hagen–Poiseuille linear law. Although fluid–structure interactions in single deformable channels have been extensively studied, such as in Starling's resistor and its variations, the flow transport capacity of an intertwined channel with multiple self-intersections (a ‘hydraulic knot’), is still an open question. We present experiments and theory on soft hydraulic knots formed by interlinked microfluidic devices comprising two intersecting channels separated by a thin elastomeric membrane. Our experiments show flow–pressure relationships similar to flow limitation, where the limiting flow rate depends on the knot configuration. To explain our observations, we develop a mathematical model based on lubrication theory coupled with tension-dominated membrane deflections that compares favourably with our experimental data. Finally, we present two potential hydraulic knot applications for microfluidic flow rectification and attenuation.

Experimental and computational analysis of elastomer membranes used in oscillating water column WECs

The study investigates the structural characterisation of flexible membranes used in oscillating water column (OWC) wave energy converters (WECs). Four commonly utilised elastomers – natural rubber, nitrile rubber, silicone, and latex – were subjected to a novel hyperelastic model selection process. A custom bulge test setup enabled the selection of second-order Mooney-Rivlin (SOMR) and Yeoh models for relevant accuracy (RMSE<0.018 MPa), stability and numerical validation. A 1:20 scale OWC model with latex was tested in a water tank to examine the effects of waves with a frequency range of 0.25–1.4 Hz and up to 0.24m amplitude. Water tank experiments demonstrated smooth frequency responses for OWC with membrane, beneficial for consistent power generation. A dry test rig was designed and built to replicate OWC inflation conditions and apply cyclic loadings up to 1.5 Hz, overcoming pressure limitations of the water tank, exploring wider material options, and validating numerical simulation. An optical motion capture system, Qualisys, supported the validation process by providing precise data on membrane deformation during experiments. Furthermore, finite element analysis (FEA) was utilised to conduct stress analysis and parametric studies, assessing the suitability of these materials for flexible OWC application.

Emergence of chaos and its control in a dissipative dielectric elastomeric membrane system under periodic loads

Dielectric elastomer (DE) is a type of soft material that possesses voltage-induced deformation. Irregular vibrations in a circular DE membrane with damping under periodic loading are investigated. The modified Lagrange equation is used to develop the dynamical model for the membrane system using Gent strain energy density function. The resulting governing equation describes axisymmetric motion. Under various loading conditions, rich dynamical properties accompanying with the membrane system with stiffening, such as periodic, quasiperiodic, and chaotic motions, are investigated. First, the numerical results indicated that the membrane system has an asymmetric homoclinic orbit for a given set of normalized parameters under constant load. Furthermore, it is revealed that for different damping values, the basin of attraction is quite different, implying a change in the nonlinear dynamics of the membrane system. The bifurcation diagram reveals the emergence of chaotic oscillation, which manifests for time-varying loads. Poincare map, power spectral density, and Lyapunov exponent are used to identify the chaotic vibration. Besides, the system is more susceptible to chaos in the absence of damping. The phase plane and strange attractor analysis are used to demonstrate the effect of damping. An adaptive integral backstepping sliding mode control (AIBSMC) theory-based chaos control technique is proposed to prevent chaos. The system is also guided along a predetermined path during actuation using this control strategy. The current investigation will assist in dealing with complex irregular dynamics of the DE-based energy harvester and actuator operating in a time-varying loading environment.

Multiparameter Remote Contact Force Sensor With Embedded Bend Sensing for Tendon-Driven Hand Robots

Integrating multiple sensors without increasing the structural complexity and their original form factor is a major concern in robotic applications, particularly in tendon-driven systems. This study proposes a multiparameter contact force sensor with bend sensing by utilizing an improved Bowden cable design. The proposed sensor consists of an end tip with an elastomer membrane, a Bowden cable consisting of a sheath and dual inner wires, and a remotely separated sensing component. The electrical wirings are decoupled from the mechanical Bowden cable system. The displacement difference between the force-sensing and bend-sensing wires is transmitted through the sheath, indicating the contact force on the end tip. The modeling and experiments verify that the contact force applied on the end tip is linearly related to the sensor output signal and is reliable after repeated measurements. The proposed sensor, utilizing the flexible Bowden cable as its sensing modality, can be integrated into a diverse range of tendon-driven robotic applications. These applications include a robotic hand with tactile and angle sensing capabilities, as well as a soft wearable robot for the hand (Exo-glove Poly II). The compact form factor of the proposed sensor enables geometric sensing without increasing structural complexity for multiparameter sensing in robotic applications.

Flexible sensors with zero Poisson's ratio.

Flexible sensors have been developed for the perception of various stimuli. However, complex deformation, usually resulting from forces or strains from multi-axes, can be challenging to measure due to the lack of independent perception of multiaxial stimuli. Herein, flexible sensors based on the metamaterial membrane with zero Poisson's ratio (ZPR) are proposed to achieve independent detection of biaxial stimuli. By deliberately designing the geometric dimensions and arrangement parameters of elements, the Poisson's ratio of an elastomer membrane can be modulated from negative to positive, and the ZPR membrane can maintain a constant transverse dimension under longitudinal stimuli. Due to the accurate monitoring of grasping force by ZPR sensors that are insensitive to curvatures of contact surfaces, rigid robotic manipulators can be guided to safely grasp deformable objects. Meanwhile, the ZPR sensor can also precisely distinguish different states of manipulators. When ZPR sensors are attached to a thermal-actuation soft robot, they can accurately detect the moving distance and direction. This work presents a new strategy for independent biaxial stimuli perception through the design of mechanical metamaterials, and may inspire the future development of advanced flexible sensors for healthcare, human-machine interfaces and robotic tactile sensing.

Evaluation of the strength of elastomeric membranes of pressure control devices

Evaluation of the strength of elastomeric membranes of pressure control devices

Preparation and characterization of electrospun cellulose nanocrystals-reinforced trans-1,4-polyisoprene nanocomposite elastomeric fiber membranes

To overcome the limitations of low strength of conventional electrostatic spinning trans-1,4-polyisoprene (TPI) fiber membranes, cellulose nanocrystals (CNC) were added into the TPI spinning solution as a backbone material, and CNC/TPI nanocomposite elastomeric fiber membranes were prepared using electrostatic spinning. This study examined the effect of CNC content on the morphology, mechanical properties, and hydrophilicity of the electrostatically spun CNC/TPI nanocomposite elastomeric fiber membranes. The prepared CNC/TPI nanocomposite elastomeric fiber membranes were characterized using 3D measurement laser microscopy, tensile testing, Fourier-infrared spectrometry, thermogravimetric analysis, differential scanning calorimetry, and water contact angle. With increase in CNC content, the tensile strength of the nanocomposite elastomeric fiber membrane increased from 1.79 MPa (without CNC) to 10.28 MPa (with 1 wt% CNC), the average diameter first decreased and then increased, the thermal stability and water vapor transmission rate decreased, and the water contact angle gradually increased. The maximum water contact angle was 124.27° and the minimum water vapor transmission rate was 851.41 g/m2·24 h. The proposed high-strength hydrophobic breathable fiber membrane preparation method can be used in various fields such as high-strength waterproof/breathable protective clothing and wearable electronic devices.

Design and Analysis of the Model Based Control System for an MRE Axisymmetric Actuator

The magnetorheological elastomer membrane is an interesting kind of smart material that is gaining new innovative applications. This work is focused on the design of the control system for magnetorheological elastomer actuators. In general, the plant is characterized by fast oscillations and slow drift. Therefore, controllers utilize the described features to obtain the solution aimed at, which makes them unique. We analyze two approaches based on output feedback with state estimation. The control algorithms have different observers to estimate the state. The first is a Linear Extended State Observer, which is applied to reject the disturbances in a case with a simple model. The second is a Linear State Observer, which is used to estimate a state based on the plant model. Furthermore, in both cases, we have the same proportional-derivative controller after decoupling the dynamics. The main goal of the paper is to examine both controllers for the magnetorheological actuator. Therefore, the designed control systems are verified in a series of experiments.

Robust output regulation of a class of smart actuators described by a minimum phase LPV dynamics

This paper presents a new control strategy for a class of minimum phase linear parameter-varying (LPV) systems representative of smart material actuators. In position control applications of such devices, one is typically interested in achieving output regulation with an arbitrary exponential decay rate. In principle, this problem can be tackled by assigning an exponential decay rate to the full system state, by means of well-established linear matrix inequalities (LMI) methods. For the class of systems under investigation, however, this approach leads to excessively large controller gains in case the desired decay rate is faster than the open-loop zero dynamics. In addition, the existence of unmeasurable state variables related to the material microstructure makes it not possible to directly implement full state feedback laws which are commonly adopted in LPV theory. To overcome these issues, a new design strategy is proposed. The key idea relies on arbitrarily shaping the output exponential decay rate without requiring fast convergence of the full state vector. This goal is achieved by means of a partial state feedback control law which solely depends on the measurable system states. A LMI algorithm is also developed to systematically address the design of the partial state feedback controller. The method is validated by means of simulations on generic examples, as well as via experiments on a mechatronic positioning system based on a dielectric elastomer membrane. In case the desired output convergence speed is faster than the open-loop zero dynamics, it is shown that the new approach leads to better transient behaviors and significantly smaller controller gains than standard LPV design techniques.