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Actuators, Volume 2, Issue 4 (December 2013) – 4 articles , Pages 74-144

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Article
Double-Acting Sleeve Muscle Actuator for Bio-Robotic Systems
by Hao Zheng and Xiangrong Shen
Actuators 2013, 2(4), 129-144; https://doi.org/10.3390/act2040129 - 25 Nov 2013
Cited by 13 | Viewed by 9472
Abstract
This paper presents a new type of muscle-like actuator, namely double-acting (DA) sleeve muscle actuator, which is suitable for the actuation of biologically-inspired and biomedical robotic systems, especially those serving human-assistance purposes (prostheses, orthoses, etc.). Developed based on the traditional pneumatic muscle [...] Read more.
This paper presents a new type of muscle-like actuator, namely double-acting (DA) sleeve muscle actuator, which is suitable for the actuation of biologically-inspired and biomedical robotic systems, especially those serving human-assistance purposes (prostheses, orthoses, etc.). Developed based on the traditional pneumatic muscle actuator, the new DA sleeve muscle incorporates a unique insert at the center. With the insert occupying the central portion of the internal volume, this new actuator enjoys multiple advantages relative to the traditional pneumatic muscle, including a consistent increase of force capacity over the entire range of motion, and a significant decrease of energy consumption in operation. Furthermore, the insert encompasses an additional chamber, which generates an extension force when pressurized. As such, this new actuator provides a unique bi-directional actuation capability, and, thus, has a potential to significantly simplify the design of a muscle actuator-powered robotic system. To demonstrate this new actuator concept, a prototype has been designed and fabricated, and experiments conducted on this prototype demonstrated the enhanced force capacity and the unique bi-directional actuation capability. Full article
(This article belongs to the Special Issue Human Centered Actuators)
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513 KiB  
Article
Actuator Location and Voltages Optimization for Shape Control of Smart Beams Using Genetic Algorithms
by Georgia A. Foutsitzi, Christos G. Gogos, Evangelos P. Hadjigeorgiou and Georgios E. Stavroulakis
Actuators 2013, 2(4), 111-128; https://doi.org/10.3390/act2040111 - 22 Oct 2013
Cited by 24 | Viewed by 8213
Abstract
This paper presents a numerical study on optimal voltages and optimal placement of piezoelectric actuators for shape control of beam structures. A finite element model, based on Timoshenko beam theory, is developed to characterize the behavior of the structure and the actuators. This [...] Read more.
This paper presents a numerical study on optimal voltages and optimal placement of piezoelectric actuators for shape control of beam structures. A finite element model, based on Timoshenko beam theory, is developed to characterize the behavior of the structure and the actuators. This model accounted for the electromechanical coupling in the entire beam structure, due to the fact that the piezoelectric layers are treated as constituent parts of the entire structural system. A hybrid scheme is presented based on great deluge and genetic algorithm. The hybrid algorithm is implemented to calculate the optimal locations and optimal values of voltages, applied to the piezoelectric actuators glued in the structure, which minimize the error between the achieved and the desired shape. Results from numerical simulations demonstrate the capabilities and efficiency of the developed optimization algorithm in both clamped−free and clamped−clamped beam problems are presented. Full article
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417 KiB  
Review
Overview of Actuated Arm Support Systems and Their Applications
by B. Van Ninhuijs, L.A. Van der Heide, J.W. Jansen, B.L.J. Gysen, D.J. Van der Pijl and E.A. Lomonova
Actuators 2013, 2(4), 86-110; https://doi.org/10.3390/act2040086 - 02 Oct 2013
Cited by 19 | Viewed by 14366
Abstract
Arm support systems provide support throughout daily tasks, training or in an industrial environment. During the last decades a large diversity of actuated arm support systems have been developed. To analyze the actuation principles in these systems, an overview of actuated arm support [...] Read more.
Arm support systems provide support throughout daily tasks, training or in an industrial environment. During the last decades a large diversity of actuated arm support systems have been developed. To analyze the actuation principles in these systems, an overview of actuated arm support systems is provided. This overview visualizes the current trends on research and development of these support systems and distinguishes three categories. These categories depend mainly on the functional status of the user environment, which defines the specifications. Therefore, the actuated arm support systems are classified according to their user environment, namely: ambulatory, rehabilitation and industrial. Furthermore, three main actuation principles and three mechanical construction principles have been identified. Full article
(This article belongs to the Special Issue Human Centered Actuators)
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397 KiB  
Article
Self-Sensing Control of Nafion-Based Ionic Polymer-Metal Composite (IPMC) Actuator in the Extremely Low Humidity Environment
by Minoru Sasaki, Wenyi Lin, Hirohisa Tamagawa, Satoshi Ito and Keiko Kikuchi
Actuators 2013, 2(4), 74-85; https://doi.org/10.3390/act2040074 - 01 Oct 2013
Cited by 188 | Viewed by 9150
Abstract
This paper presents feedforward, feedback and two-degree-of-freedom control applied to an Ionic Polymer-Metal Composite (IPMC) actuator. It presents a high potential for development of miniature robots and biomedical devices and artificial muscles. We have reported in the last few years that dehydration treatment [...] Read more.
This paper presents feedforward, feedback and two-degree-of-freedom control applied to an Ionic Polymer-Metal Composite (IPMC) actuator. It presents a high potential for development of miniature robots and biomedical devices and artificial muscles. We have reported in the last few years that dehydration treatment improves the electrical controllability of bending in Selemion CMV-based IPMCs. We tried to replicate this controllability in Nafion-based IPMC. We found that the displacement of a Nafion-based IPMC was proportional to the total charge imposed, just as in the Selemion-CMV case. This property is the basis of self-sensing controllers for Nafion-based IPMC bending behavior: we perform bending curvature experiments on Nafion-based IPMCs, obtaining the actuator's dynamics and transfer function. From these, we implemented self-sensing controllers using feedforward, feedback and two-degree-of-freedom techniques. All three controllers performed very well with the Nafion-based IPMC actuator. Full article
(This article belongs to the Special Issue Human Centered Actuators)
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