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Actuators
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Smart Materials for Smart Actuators and Semi-active Components
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Smart Materials for Smart Actuators and Semi-active Components

A special issue of Actuators (ISSN 2076-0825). This special issue belongs to the section "Actuator Materials".

Deadline for manuscript submissions: closed (28 February 2023) | Viewed by 21616

Special Issue Editors

Dr. Takehito Kikuchi

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Guest Editor
Department of Mechatronics, Faculty of Engineering, Oita University, Oita, Japan
Interests: rehabilitation robotics, mechatronics, virtual reality and application of functioncal fluids. He developed or researched ER (electro-rheological) fluid actuators and brakes, MR (magneto-rheological) fluid actuators and brakes, a training machine using ER/
Dr. Saiful Amri Mazlan

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Guest Editor
1. Malaysia-Japan International Institute of Technology, Universiti Teknologi Malaysia, Kuala Lumpur, Malaysia
2. International Center, Tokyo City University, Setagaya, Tokyo, Japan
Interests: magneto-rheological devices; magneto-rheological elastomer; magneto-rheological plastomer; magnetostrictive; rheology and resistivity properties

Special Issue Information

Dear Colleagues,

The development of smart actuators has helped us to achieve higher accuracy in robotic applications. One of the main components of smart actuators is smart materials which can measure physical quantities such as force, displacement, and heat before converting into electrical signals. Materials including magnetorheologiocal, electrorheological, piezoelectric, shape memory alloys, liquid crystals, and dielectric elastomers respond to external stimuli by changing their properties that can be controlled. This Special Issue invites papers on recent advances in smart materials and their application in robotics.

Dr. Takehito Kikuchi
Dr. Saiful Amri Mazlan
Guest Editors

Manuscript Submission Information

Manuscripts should be submitted online at www.mdpi.com by registering and logging in to this website. Once you are registered, click here to go to the submission form. Manuscripts can be submitted until the deadline. All submissions that pass pre-check are peer-reviewed. Accepted papers will be published continuously in the journal (as soon as accepted) and will be listed together on the special issue website. Research articles, review articles as well as short communications are invited. For planned papers, a title and short abstract (about 100 words) can be sent to the Editorial Office for announcement on this website.

Submitted manuscripts should not have been published previously, nor be under consideration for publication elsewhere (except conference proceedings papers). All manuscripts are thoroughly refereed through a single-blind peer-review process. A guide for authors and other relevant information for submission of manuscripts is available on the Instructions for Authors page. Actuators is an international peer-reviewed open access monthly journal published by MDPI.

Please visit the Instructions for Authors page before submitting a manuscript. The Article Processing Charge (APC) for publication in this open access journal is 2400 CHF (Swiss Francs). Submitted papers should be well formatted and use good English. Authors may use MDPI's English editing service prior to publication or during author revisions.

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Published Papers (7 papers)

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11 pages, 3777 KiB  
Article
Haptic Interface with Twin-Driven MR Fluid Actuator for Teleoperation Endoscopic Surgery System
by Takehito Kikuchi, Tetsumasa Takano, Akinori Yamaguchi, Asaka Ikeda and Isao Abe
Actuators 2021, 10(10), 245; https://doi.org/10.3390/act10100245 - 23 Sep 2021
Cited by 16 | Viewed by 3405
Abstract
Magnetorheological fluids (MRFs) are composite materials made of ferromagnetic particles, medium oils, and several types of additives. We have developed an actuation system for the fine haptic control of leader-follower robots. In this study, we developed a haptic interface with two link-type twin-driven [...] Read more.
Magnetorheological fluids (MRFs) are composite materials made of ferromagnetic particles, medium oils, and several types of additives. We have developed an actuation system for the fine haptic control of leader-follower robots. In this study, we developed a haptic interface with two link-type twin-driven MR fluid actuators and two MR fluid brakes for a teleoperation endoscopic surgery system and conducted evaluation tests for a remote operational task with a leader-follower robot system. For evaluations, we adopted the NASA-TLX questionnaire as a subjective assessment method. According to the experimental results, the total success rates were 0.462, 0.333, and 0.591, for the first haptic, middle no-haptic, and second haptic phases, respectively. The force information of the haptic forceps helped users to perceive grasping sensation on their fingers. Statistical analyses on the answers to the questionnaire indicate no significant differences. However, a decreasing tendency in the mental stress in the complicated manipulation tasks for fragile objects is observed. Full article
(This article belongs to the Special Issue Smart Materials for Smart Actuators and Semi-active Components)
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14 pages, 61930 KiB  
Article
Study on Buckling Characteristics of a Convex Tape-Shaped Ti-Ni Shape Memory Alloy Element for Application to Passive Vibration Isolator Devices and Force Limit Devices
by Hiroki Cho, Sho Nagamatsu and Takumi Sasaki
Actuators 2022, 11(3), 88; https://doi.org/10.3390/act11030088 - 14 Mar 2022
Cited by 2 | Viewed by 2887
Abstract
The tape-shaped Ti-Ni shape memory alloy (SMA) shows negative or quasi-zero stiffness during post-buckling deformation, and this characteristic can be applied to passive vibration isolator devices and force limit devices. Design calculation of the buckling load and the negative stiffness gradient after buckling [...] Read more.
The tape-shaped Ti-Ni shape memory alloy (SMA) shows negative or quasi-zero stiffness during post-buckling deformation, and this characteristic can be applied to passive vibration isolator devices and force limit devices. Design calculation of the buckling load and the negative stiffness gradient after buckling of tape-shaped SMA element are required to apply the SMA element to these devices. When the cross-section of the SMA element is convex tape shaped, an improvement in buckling properties is expected. In this study, the effects of the curvature of the cross-section on the buckling characteristics of convex tape-shaped SMA elements were investigated by the 3D finite element method (3D-FEM) and material testing. The results of the study indicate that the buckling load and negative stiffness gradient of convex tape-shaped SMA elements tend to increase with increasing curvature of the cross-section. Furthermore, when the convex tape-shaped SMA elements buckled in the convex direction of the cross-section, the loading stress was approximately equivalent to that of buckling a flat tape-shaped SMA elements. Therefore, the convex tape-shaped SMA element is considered to be more suitable for device application compared to the flat tape-shaped SMA element, because the buckling characteristics of convex tape-shaped SMA elements can be controlled by adjusting the curvature of the cross-section without changing the dimensions. Full article
(This article belongs to the Special Issue Smart Materials for Smart Actuators and Semi-active Components)
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22 pages, 11811 KiB  
Article
Development of Variable Viscoelastic Joint Module Performance Evaluation and Proposal of Application Examples
by Tetsuhito Fujita, Yusuke Shimoda, Katsuki Machida, Manabu Okui, Rie Nishihama and Taro Nakamura
Actuators 2022, 11(3), 89; https://doi.org/10.3390/act11030089 - 14 Mar 2022
Cited by 2 | Viewed by 2821
Abstract
With the diversification of robots, modularization of robots has been attracting attention. In our previous study, we developed a robot that mimics the principle of human joint drive using a straight-fiber-type pneumatic rubber artificial muscle (“artificial muscle”) and a magnetorheological fluid brake (“MR [...] Read more.
With the diversification of robots, modularization of robots has been attracting attention. In our previous study, we developed a robot that mimics the principle of human joint drive using a straight-fiber-type pneumatic rubber artificial muscle (“artificial muscle”) and a magnetorheological fluid brake (“MR brake”). The variable viscoelastic joints have been modularized. Therefore, this paper evaluates the basic characteristics of the developed Joint Module, characterizes the variable viscoelastic joint, and compares it with existing modules. As basic characteristics, we confirmed that the Joint Module has a variable viscoelastic element by experimentally verifying the joint angle, stiffness, viscosity, and tracking performance of the generated torque to the command value. As a characteristic evaluation, we verified the change in motion and response to external disturbances due to differences in driving methods through simulations and experiments and proved the strength of the variable viscoelastic joint against external disturbances, which is a characteristic of variable viscoelastic joints. Based on the results of the basic characterization and the characterization of the variable viscoelastic drive joint, we discussed what kind of device the Joint Module is suitable to be applied to and clarified the position of the variable viscoelastic joint as an actuator system. Full article
(This article belongs to the Special Issue Smart Materials for Smart Actuators and Semi-active Components)
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18 pages, 3552 KiB  
Article
Experimental Confirmation of a Controllable Transmission/Braking Element Consisting of a Functional Elastomer Pasted on a Winding Surface
by Ken’ichi Koyanagi, Yasuhiro Kakinuma, Hidenobu Anzai, Koji Sakurai and Toru Oshima
Actuators 2022, 11(4), 114; https://doi.org/10.3390/act11040114 - 18 Apr 2022
Viewed by 2499
Abstract
Electoadhesive (EA) gel can be applied to various mechatronics devices because it provides more degrees of freedom in mechanical design than other functional materials. While case studies have revealed much about these devices, the knowledge attained is still not integrated. We assembled new [...] Read more.
Electoadhesive (EA) gel can be applied to various mechatronics devices because it provides more degrees of freedom in mechanical design than other functional materials. While case studies have revealed much about these devices, the knowledge attained is still not integrated. We assembled new structured and controllable transmission and braking elements by fixing EA gel on plain and/or winding surfaces. This paper summarizes the characteristics of these devices from experimental findings on the initial pressure on the EA gel surface. The results showed that it is important for the initial pressure to be stable at approximately 0.5–1 kPa. Full article
(This article belongs to the Special Issue Smart Materials for Smart Actuators and Semi-active Components)
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16 pages, 5909 KiB  
Article
Development of Durability Test Device for Magnetorheological Fluids with Two Types of Rotors and Their Long-Term Torque Characteristics
by Takehito Kikuchi, Isao Abe, Yuya Ueshima, Shuichi Akaiwa and Hitoshi Tsuji
Actuators 2022, 11(6), 142; https://doi.org/10.3390/act11060142 - 25 May 2022
Cited by 3 | Viewed by 2618
Abstract
Magnetorheological fluids (MRFs) are composites of micron-sized and/or nano-sized Fe particles and nonmagnetic oils, and their rheological properties change with changes in the magnetic field. To distinguish between material and mechanical deterioration, we developed a durability test system without the influence of mechanical [...] Read more.
Magnetorheological fluids (MRFs) are composites of micron-sized and/or nano-sized Fe particles and nonmagnetic oils, and their rheological properties change with changes in the magnetic field. To distinguish between material and mechanical deterioration, we developed a durability test system without the influence of mechanical sealing and bearing on the MRFs. We used a set of rotors and stators to create a V-shaped MRF layer. However, the test device produces a constant magnetic field with a permanent magnet instead of an electromagnetic coil to make a compact design and cannot be tested under various dynamic magnetic inputs. Therefore, we developed a durability test system with an electric magnet to create a variable magnetic input and two sets of rotors, and compared their magnetic properties and the results of the durability tests. From the findings, the measured torque for the parallel plate case was lower than the predicted value. In contrast, the V-shaped disk exhibits a higher torque than the estimated values. Durability tests for the two types of MRFs were conducted. The torque variation for the nano MRF is significantly smaller for both the parallel and V-shaped plates. In addition, the duration of both MRFs for the V-shaped plate was much shorter than that for the parallel plate. Full article
(This article belongs to the Special Issue Smart Materials for Smart Actuators and Semi-active Components)
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13 pages, 3273 KiB  
Article
Mechanical Properties and Microstructural Behavior of Uniaxial Tensile-Loaded Anisotropic Magnetorheological Elastomer
by Siti Fatimah Mohd Shahar, Saiful Amri Mazlan, Norhasnidawani Johari, Mohd Aidy Faizal Johari, Siti Aishah Abdul Aziz, Muntaz Hana Ahmad Khairi, Nur Azmah Nordin and Norhiwani Mohd Hapipi
Actuators 2022, 11(11), 306; https://doi.org/10.3390/act11110306 - 26 Oct 2022
Cited by 2 | Viewed by 2473
Abstract
Magnetorheological elastomers (MREs) are well-known for their ability to self-adjust their mechanical properties in response to magnetic field influence. This ability, however, diminishes under high-strain conditions, a phenomenon known as the stress-softening effect. Similar phenomena have been observed in other filled elastomers; hence, [...] Read more.
Magnetorheological elastomers (MREs) are well-known for their ability to self-adjust their mechanical properties in response to magnetic field influence. This ability, however, diminishes under high-strain conditions, a phenomenon known as the stress-softening effect. Similar phenomena have been observed in other filled elastomers; hence, the current study demonstrates the role of fillers in reducing the effect and thus maintaining performance. Anisotropic, silicone-based MREs with various carbonyl iron particle (CIP) concentrations were prepared and subjected to uniaxial tensile load to evaluate high-strain conditions with and without magnetic influence. The current study demonstrated that non-linear stress–strain behavior was observed in all types of samples, which supported the experimental findings. CIP concentration has a significant impact on the stress–strain behavior of MREs, with about 350% increased elastic modulus with increasing CIP content. Microstructural observations using field emission scanning electron microscopy (FESEM) yielded novel micro-mechanisms of the high-strain failure process of MREs. The magnetic force applied during tension loading was important in the behavior and characteristics of the MRE failure mechanism, and the discovery of microcracks and microplasticity, which was never reported in the MRE quasi-static tensile, received special attention in this study. The relationships between these microstructural phenomena, magnetic influence, and MRE mechanical properties were defined and discussed thoroughly. Overall, the process of microcracks and microplasticity in the MRE under tensile mode was primarily formed in the matrix, and the formation varies with CIP concentrations. Full article
(This article belongs to the Special Issue Smart Materials for Smart Actuators and Semi-active Components)
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18 pages, 3858 KiB  
Article
A Computationally Efficient Hysteresis Model for Magneto-Rheological Clutches and Its Comparison with Other Models
by Zi-Qi Yang and Mehrdad R. Kermani
Actuators 2023, 12(5), 190; https://doi.org/10.3390/act12050190 - 28 Apr 2023
Cited by 4 | Viewed by 2643
Abstract
The collaborative robot market has experienced rapid growth, leading to advancements in compliant actuation and torque control. Magneto-rheological (MR) clutches offer a hardware-level solution for achieving both compliance and torque control through adjustable coupling between the input and output of the MR clutch. [...] Read more.
The collaborative robot market has experienced rapid growth, leading to advancements in compliant actuation and torque control. Magneto-rheological (MR) clutches offer a hardware-level solution for achieving both compliance and torque control through adjustable coupling between the input and output of the MR clutch. However, the presence of frequency-dependent magnetic hysteresis makes controlling the output torque challenging. In this paper, we present a comparative study of six widely used hysteresis models and propose a computationally efficient algebraic model to address the issue of hysteresis modeling and control of the output torque of rotary MR clutches. We compare the estimated torques with experimental measurements from a prototype MR clutch, to evaluate the computational complexity and accuracy of the model. Our proposed algebraic hysteresis model demonstrates superior accuracy and approximately two times less computational complexity than the Bouc–Wen model, and approximately twenty times less memory requirement than neural network-based models. We show that our proposed model has excellent potential for embedded indirect torque control schemes in systems with hysteresis, such as MR clutches and isolators. Full article
(This article belongs to the Special Issue Smart Materials for Smart Actuators and Semi-active Components)
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