Fast Actuation Research Articles

Blue Light Controlled Supramolecular Soft Robotics of Phenylazothiazole Amphiphiles for Rapid Macroscopic Actuations.

Nature preprograms sophisticated processes in operating molecular machines at the nanoscale, amplifying the molecular motion across multiple length-scales, and controlling movements in living organisms. Supramolecular soft robotics serve as a new alternative to hard robotics, are able to transform and amplify collective motions of the supramolecularly assembled molecular machines in attaining macroscopic motions, upon photoirradiation. By taking advantage of oriented supramolecular macroscopic soft scaffold, here the first rapid macroscopic movements of supramolecular robotic materials driven by visible light are presented. Head-tail amphiphilic structure is designed with the phenylazothiazole motif as the photoswitching core. Unidirectionally aligned nanostructures of the amphiphilic phenylazothiazoles are controlled by non-invasive blue light irradiation and bends toward the light source, demonstrating a fast macroscopic actuation of supramolecular robotic systems (up to 17°s-1) in aqueous media. Through meticulous X-ray diffraction and electron microscopy analyzes, macroscopic actuation mechanism is illustrated in a tight relation to molecular geometric transformations upon photoisomerization. By elucidating the key macroscopic actuation parameters, this paves the way for the next generation design of supramolecular soft robotic systems with enhanced biomimetic actuating functions.

Numerical model of the locomotion of oscillating ‘robots’ with frictional anisotropy on differently-structured surfaces

In engineering materials, surface anisotropy is known in certain textured patterns that appear during the manufacturing process. In biology, there are numerous examples of mechanical systems which combine anisotropic surfaces with the motion, elicited due to some actuation using muscles or stimuli-responsive materials, such as highly ordered cellulose fiber arrays of plant seeds. The systems supplemented by the muscles are rather fast actuators, because of the relatively high speed of muscle contraction, whereas the latter ones are very slow, because they generate actuation depending on the daily changes in the environmental air humidity. If the substrate has ordered surface profile, one can expect certain statistical order of potential trajectories (depending on the order of the spatial distribution of the surface asperities). If not, the expected trajectories can be statistically rather random. The same presumably holds true for the artificial miniature robots that use actuation in combination with frictional anisotropy. In order to prove this hypothesis, we developed numerical model helping us to study abovementioned cases of locomotion in 2D space on an uneven terrain. We show that at extremely long times, these systems tends to behave according to the rules of ballistic diffusion. Physically, it means that their motion tends to be associated with the “channels” of the patterned substrate. Such a motion is more or less the same as it should be in the uniform space. Such asymptotic behavior is specific for the motion in model regular potential and would be impossible on more realistic (and complex) fractal reliefs. However, one can expect that in any kind of the potential with certain symmetry (hexagonal or rhombic, for example), where it is still possible to find the ways, the motion along fixed direction during long (or even almost infinite) time intervals is possible.

Thermal and light-driven soft actuators based on a conductive polypyrrole nanofibers integrated poly(N-isopropylacrylamide) hydrogel with intelligent response

The development of soft hydrogel actuators with outstanding mechanical properties, fast actuation speed, and available quantification of self-sensing actuation remains a challenging endeavor. In this work, dopamine-decorated polypyrrole nanofibers (DAPPy) were introduced into the polyethylene glycol diacrylate (PEGDA)-crosslinked poly(N-isopropyl acrylamide) network to generate a stretchable, NIR-responsive, and strain sensitive DAPPy/PNIPAM hydrogel layer. Besides, this active layer was combined with the passive ligninsulfonate sodium/polyacrylamide (LS/PAAM) to give DAPPy/PNIPAM//LS/PAAM bilayer hydrogel actuator, which exhibits ultrafast thermo-responsive actuation (19°/s) and underwater grasping and lifting performance. Moreover, the DAPPy/PNIPAM layer has excellent electrical conductivity (0.29 S/m) and thermal conversion ability (10.8 °C/min), which enable such a conductive hydrogel to act as a highly sensitive strain and temperature sensor with real-time resistance change in response to tensile strain (gauge factor up to 3.4), applied pressure, temperature, and remote NIR light irradiation. More importantly, the bilayer hydrogel actuator can integrate both actuation and self-sensing functions through the bending angle-surface temperature-relative resistance change relationship of the photothermal process. With excellent mechanical actuation and self-sensing ability, the resulting bilayer hydrogel showed a promising application potential as soft biomimetic actuating materials and soft intelligent actuators.

Electric field induced mechanical flapping motors enabling soft robotic and wearable applications

Here we present a new type of soft motors, termed Electric Field Induced Mechanical Flapping (EFIMF) motors, which are robust and present versatile potential applications. The EFIMF motors harness an actuation mechanism that combines two processes: 1) using the electric field to induce charges, and 2) coupling the electromechanical forces to achieve fast and robust actuation. Our EFIMF motor can remain functional even with its electrode punctured by a metal needle. The EFIMF motors also present the fault-tolerant capability, which helps them to survive the dielectric breakdown. We demonstrate a robust crawling soft robot, which is powered by one EFIMF motor and capable of surviving continuous hammering. We also show a wearable haptic glove powered by five EFIMF motors, generating rich notification signals with a wide frequency range and different mechanical feedback intensities. The robustness of the soft EFIMF motors enhances their lifetime and performances, and represents an important step towards realistic soft mobile machines and wearable human machine interfaces.

Probabilistic method for risk analysis of unintentional islanding of distributed generators

Unintentional islanding can be a harmful event, requiring the fast actuation of the anti-islanding protection to disconnect the distributed generators. Although passive techniques are mostly used, they have non-detection zones and fail to detect islanding under specific conditions. Therefore, knowing in advance such operative conditions and the risks associated with the islanding occurrence can be a strategic information to support grid operators in the decision-making process regarding the effectiveness of distributed generators interconnection protection. In this context, this paper proposes a probabilistic method to assess the risk of energized island formation by combining the probability of breaker (or recloser) opening with the probability of anti-islanding protection failure. The method employs probabilistic short circuit associated with overcurrent protection actuation by using Monte Carlo simulation and time-domain analysis to obtain the cases of unintentional islanding and to calculate the risk of distributed generator islanded operation. The results drove more realistic and less conservative conclusions than previous literature. Additionally, it is shown that faults as the cause of breaker opening do play a relevant role in the performance of the anti-islanding protection.

Unlocking Versatility: Magnetic-Actuated Deployable Suction Gripper for Complex Surface Handling.

Suction grippers offer a distinct advantage in their ability to handle a wide range of items. However, attaching these grippers to irregular and rough surfaces presents an ongoing challenge. To address this obstacle, this study explores the integration of magnetic intelligence into a soft suction gripper design, enabling fast external magnetic actuation of the attachment process. Additionally, miniaturization options are enhanced by implementing a compliant deploying mechanism. The resulting design is the first-of-its-kind magnetically-actuated deployable suction gripper featuring a thin magnetic membrane (Ø 50 mm) composed of carbonyl iron particles embedded in a silicone matrix. This membrane is supported by a frame made of superelastic nitinol wires that facilitate deployment. During experiments, the proof-of-principle prototype demonstrates successful attachment on a diverse range of curved surfaces in both dry and wet environments. The gripper achieves attachment on curved surfaces with radii of 50-75 mm, exerting a maximum attachment force of 2.89 ± 0.54 N. The current gripper design achieves a folding percentage of 75%, enabling it to fit into a Ø 12.5 mm tube and access hard-to-reach areas while maintaining sufficient surface area for attachment forces. The proposed prototype serves as a foundational steppingstone for further research in the development of reliable and effective magnetically-actuated suction grippers across various configurations. By addressing the limitations of attachment to irregular surfaces and exploring possibilities for miniaturization and precise control, this study opens new avenues for the practical application of suction grippers in diverse industries and scenarios.

Edgewise Structural Damping of a 2.8-MW Land-Based Wind Turbine Rotor Blade

Modern wind turbines push the predictive capabilities of state-of-the-art aero-servo-elastic tools. The existing limitations hide across the numerical tool chain and can result in serious issues, such as missing aeroelastic instabilities during the design phase. Structural damping is an input that is usually hard to estimate, but also has a major impact on the turbine behavior. In this paper, we discuss an experiment that aims to accurately quantify the structural damping characterizing the edgewise modes of modern wind turbine blades. The experiment is carried out on a 2.8-MW land-based wind turbine and features a fast yaw actuation that induces an edgewise motion on one of the three blades. The Covariant-subspace system identification (Cov-SSI) method is then used to post-process the blade root moment to estimate the short-term edgewise structural damping. Despite limitations of the Cov-SSI method, which consistently under-predicts the absolute values of damping, we observe that structural damping decreases across the first three blade edgewise modes, which is different from the stiffness-proportional damping model that assumes that structural damping increases with the modes. This paper argues that a stiffness-proportional damping model, which is implemented in most aeroelastic tools, is therefore not conservative and might hide aeroelastic instabilities that can instead appear in the field.

Shape-Memory Polymers Based on Carbon Nanotube Composites.

For the past two decades, researchers have been exploring the potential benefits of combining shape-memory polymers (SMP) with carbon nanotubes (CNT). By incorporating CNT as reinforcement in SMP, they have aimed to enhance the mechanical properties and improve shape fixity. However, the remarkable intrinsic properties of CNT have also opened up new paths for actuation mechanisms, including electro- and photo-thermal responses. This opens up possibilities for developing soft actuators that could lead to technological advancements in areas such as tissue engineering and soft robotics. SMP/CNT composites offer numerous advantages, including fast actuation, remote control, performance in challenging environments, complex shape deformations, and multifunctionality. This review provides an in-depth overview of the research conducted over the past few years on the production of SMP/CNT composites with both thermoset and thermoplastic matrices, with a focus on the unique contributions of CNT to the nanocomposite's response to external stimuli.

Solidification of Ni-Mn-Ga magnetic shape memory alloy built via laser powder bed fusion on a single crystal substrate

Ni-Mn-Ga-based magnetic shape memory (MSM) alloys have significant potential as fast actuation materials due to their ability to undergo large magnetic-field-induced strains in an external applied magnetic field. This study explored the manufacture of Ni-Mn-Ga via the laser powder bed fusion (PBF-LB/M) additive manufacturing process, aiming to determine the parameter combinations that enhance the development of a crystallographically oriented coarse grain structure. In the first part of the study, the single tracks were melted on pre-heated single-crystalline Ni-Mn-Ga substrates by varying the applied laser power and scanning speed. This experiment revealed the existence of a parameter window where epitaxial solidification of the single-track can be achieved. Additionally, the results demonstrated that preheating prevents cracking of the single-crystal substrate. Subsequent experiments using a thin-walled 3D geometry demonstrated that this epitaxial structure was replicated across multiple layers, with the built samples exhibiting crystallographically oriented oligocrystalline structures following a high-temperature homogenization treatment. PBF-LB/M shows high potential for facilitating the additive manufacturing of oriented coarse grain oligocrystals for the production of microscale actuators.

Ultrarobust Actuator Comprising High-Strength Carbon Fibers and Commercially Available Polycarbonate with Multi-Stimulus Responses and Programmable Deformation.

Polymer-based actuators have gained extensive attention owing to their potential applications in aerospace, soft robotics, etc. However, poor mechanical properties, the inability of multi-stimuli response and programmable deformation, and the costly fabrication procedure have significantly hindered their practical application. Herein, these issues are overcome via a simple and scalable one-step molding method. The actuator is fabricated by hot-pressing commercial unidirectional carbon fiber/epoxy prepregs with a commodity PC membrane. Notable CTE differences between the CF and PC layers endow the bilayer actuator with fast and reliable actuation deformation. Benefiting from the high strength of CF, the actuator exhibits excellent mechanical performance. Moreover, the anisotropy of CF endows the actuator with design flexibility. Furthermore, the multifunction of CF makes the actuator capable of responding to thermal, optical, and electrical stimulation simultaneously. Based on the bilayer actuator, we successfully fabricated intelligent devices such as light-driven biomimetic flowers, intelligent grippers, and gesture-simulating apparatuses, which further validate the programmability and multi-stimuli response characteristics of this actuator. Strikingly, the prepared gripper possesses a grasping capacity approximately 31.2 times its own weight. It is thus believed that the concept presented paves the way for building next-generation robust robotics.

The effect of actuation frequency on clot integration with the Tigertriever device: A preliminary in vitro study.

The Tigertriever stent retriever (Rapid Medical) can be actively expanded and contracted by the operator, which allows for several actuation-related parameters to be optimized to potentially improve device efficacy. These parameters have not yet been evaluated. We conducted a benchtop study to evaluate the effect of actuation frequency on clot integration within the stent. A Tigertriever 17 device was deployed within a biological clot analog placed in a straight tube. The device was actuated between the maximally contracted and maximally expanded states with three different frequencies: passive (one-time opening, n = 6), slow (20 s/cycle, n = 6), and fast (5 s/cycle, n = 7). A flat-detector CT scan was acquired, the clot and stent wires were segmented, and the boundaries of the clot and stent wires were calculated on each axial slice. The intersection between the stent and clot boundaries throughout the volume was defined as the volume of clot integrated within the stent. The clot integration factor (ratio of integrated clot volume to total clot volume) was then statistically compared between the three frequencies as an estimate of clot capture efficiency. The clot integration factor was significantly higher (23% increase, p = 0.01) with the fast actuation as compared to the passive and slow actuations, with a post hoc test showing no difference (p > 0.05) between the passive and slow groups. Faster actuation frequencies may result in improved clot integration with the Tigertriever device. This effect needs to be validated by clinical data.

Improving the actuation behavior of nitinol shape memory alloys by nanosecond laser surface texturing

Laser surface texturing of nitinol was performed using a nanosecond fiber laser to modify the surface structure and enhance the laser actuation performance of nitinol. The influence of laser processing parameters on surface morphology and chemical composition was studied in detail. The influence of texturing on the laser actuation behavior was evaluated using a continuous wave fiber laser and a CO2 laser. Compared to the pristine sample, the textured samples demonstrated better displacements and faster actuation. During laser actuation using a fiber laser, the textured sample showed maximum and minimum displacement enhancements of 65% and 15%, respectively. The actuation performance of the textured sample was approximately twice that of the pristine sample during the irradiation with CO2 laser. This paper presents the viability of laser surface texturing to enhance the actuation performance of shape memory alloys, and the results indicate that the power required for actuation can be reduced to avoid the use of bulky power and control units.

Fast and Slow-Twitch Actuation via Twisted Liquid Crystal Elastomer Fibers.

The performance of robotic systems can benefit from low-density material actuators that emulate muscle typology (e.g., fast and slow twitch) of natural systems. Recent reports detail the thermomechanical, chemical, electrical, and pneumatic response of twisted and coiled fibers. The geometrical constraints imparted on typically commodity materials realize distinguished stimuli-induced actuation including low density, high force, and moderate stroke. Here, actuators are prepared by twisting fibers composed of liquid crystal elastomers (LCEs). The actuators combine the inherent stimuli-response of LCEs with the geometrical constraints of twisted fiber actuators to dramatically increase the deformation rate, specific work, and achievable force output. In some geometries, the thermomechanical response of the LCE exhibits a pseudo-first-order transition.

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.

In silico optimization of aligned fiber electrodes for dielectric elastomer actuators

Dielectric elastomer actuators (DEAs) exhibit fast actuation and high efficiencies, enabling applications in optics, wearable haptics, and insect-scale robotics. However, the non-uniformity and high sheet resistance of traditional soft electrodes based on nanomaterials limit the performance and operating frequency of the devices. In this work, we computationally investigate electrodes composed of arrays of stiff fiber electrodes. Aligning the fibers along one direction creates an electrode layer that exhibits zero stiffness in one direction and is predicted to possess high and uniform sheet resistance. A comprehensive parameter study of the fiber density and dielectric thickness reveals that the fiber density primary determines the electric field localization while the dielectric thickness primarily determines the unit cell stiffness. These trends identify an optimal condition for the actuation performance of the aligned electrode DEAs. This work demonstrates that deterministically designed electrodes composed of stiff materials could provide a new paradigm with the potential to surpass the performance of traditional soft planar electrodes.

High-performance liquid metal electromagnetic actuator fabricated by femtosecond laser

Small-scale electromagnetic soft actuators are characterized by a fast response and simple control, holding prospects in the field of soft and miniaturized robotics. The use of liquid metal (LM) to replace a rigid conductor inside soft actuators can reduce the rigidity and enhance the actuation performance and robustness. Despite research efforts, challenges persist in the flexible fabrication of LM soft actuators and in the improvement of actuation performance. To address these challenges, we developed a fast and robust electromagnetic soft microplate actuator based on a laser-induced selective adhesion transfer method. Equipped with unprecedentedly thin LM circuit and customized low Young’s modulus silicone rubber (1.03 kPa), our actuator exhibits an excellent deformation angle (265.25°) and actuation bending angular velocity (284.66 rad·s−1). Furthermore, multiple actuators have been combined to build an artificial gripper with a wide range of functionalities. Our actuator presents new possibilities for designing small-scale artificial machines and supports advancements in ultrafast soft and miniaturized robotics.

Tunable and responsive photonic bio‐inspired materials and their applications

AbstractBio‐enabled and bio‐mimetic nanomaterials represent functional materials, which use bio‐derived materials and synthetic components to bring the better of two, natural and synthetic, worlds. Prospective broad applications are flexibility and mechanical strength of lightweight structures, adaptive photonic functions and chiroptical activity, ambient processing and sustainability, and potential scalability along with broad sensing/communication abilities. Here, we summarize recent results on relevant functional photonic materials with responsive behavior under mechanical stresses, magnetic field, and changing chemical environment. We focus on recent achievements and trends in tuning optical materials' properties such as light scattering, absorption and reflection, light emission, structural colors, optical birefringence, linear and circular polarization for prospective applications in biosensing, optical communication, optical encoding, fast actuation, biomedical fields, and tunable optical appearance.

Investigation of Shape Memory Polyurethane Properties in Cold Programming Process Towards Its Applications.

Thermoresponsive shape memory polymers (SMPs) with the remarkable ability to remember a temporary shape and recover their original one using temperature have been gaining more and more attention in a wide range of applications. Traditionally, SMPs are investigated using a method named often "hot-programming", since they are heated above their glass transition temperature (Tg) and after that, reshaped and cooled below Tg to achieve and fix the desired configuration. Upon reheating, these materials return to their original shape. However, the heating of SMPs above their Tg during a thermomechanical cycle to trigger a change in their shape creates a temperature gradient within the material structure and causes significant thermal expansion of the polymer sample resulting in a reduction in its shape recovery property. These phenomena, in turn, limit the application fields of SMPs, in which fast actuation, dimensional stability and low thermal expansion coefficient are crucial. This paper aims at a comprehensive experimental investigation of thermoplastic polyurethane shape memory polymer (PU-SMP) using the cold programming approach, in which the deformation of the SMP into the programmed shape is conducted at temperatures below Tg. The PU-SMP glass transition temperature equals approximately 65 °C. Structural, mechanical and thermomechanical characterization was performed, and the results on the identification of functional properties of PU-SMPs in quite a large strain range beyond yield limit were obtained. The average shape fixity ratio of the PU-SMP at room temperature programming was found to be approximately 90%, while the average shape fixity ratio at 45 °C (Tg - 20 °C) was approximately 97%. Whereas, the average shape recovery ratio was 93% at room temperature programming and it was equal to approximately 90% at 45 °C. However, the results obtained using the traditional method, the so-called hot programming at 65 °C, indicate a higher shape fixity value of 98%, but a lower shape recovery of 90%. Thus, the obtained results confirmed good shape memory properties of the PU-SMPs at a large strain range at various temperatures. Furthermore, the experiments conducted at both temperatures below Tg demonstrated that cold programming can be successfully applied to PU-SMPs with a relatively high Tg. Knowledge of the PU-SMP shape memory and shape fixity properties, estimated without risk of material degradation, caused by heating above Tg, makes them attractive for various applications, e.g., in electronic components, aircraft or aerospace structures.

A strong and fast millimeter-sized soft pneumatic actuator based on alternative pole water electrolysis

A strong and fast millimeter-sized soft pneumatic actuator based on alternative pole water electrolysis

Single-Electrode Electrostatic Repulsion Phenomenon for Remote Actuation and Manipulation.

One of the fundamental principles of electrostatics is that an uncharged object will be attracted to a charged object through electrostatic induction as the two approaches one another. We refer to the charged object as a single electrode and examine the scenario where a positive voltage is applied. Because of electrostatic induction phenomenon, single-electrode electrostatics only generates electrostatic attraction forces. Here, we discover that single-electrode electrostatics can generate electrostatic repulsion forces and define this new phenomenon as single-electrode electrostatic repulsion phenomenon. We investigate the fundamental electrostatic phenomena, giving a curve of electrostatic force versus voltage and then defining 3 regions. Remote actuation and manipulation are essential technologies that are of enormous concern, with tweezers playing an important role. Various tweezers designed on the basis of external fields of optics, acoustics, and magnetism can be used for remote actuation and manipulation, but some inherent drawbacks still exist. Tweezers would benefit greatly from our discovery in electrostatics. On the basis of this discovery, we propose the concept of electrostatic tweezers, which can achieve noncontact and remote actuation and manipulation. Experimental characterizations and successful applications in metamaterials, robots, and manipulating objects demonstrated that electrostatic tweezers can produce large deformation rates (>6,000%), fast actuation (>100 Hz), and remote manipulating distance (~15 cm) and have the advantages of simple device structure, easy control, lightweight, no dielectric breakdown, and low cost. Our work may deepen people's understanding of single-electrode electrostatics and opens new opportunities for remote actuation and manipulation.